Kim, J. and Kim, J. orcid.org/0000-0002-3456-6614 (2024) Collision-Avoidance Target-Tracking Actuator Command Generation for UAVs. In: 2024 UKACC 14th International Conference on Control, CONTROL 2024. 2024 UKACC 14th International Conference on Control (CONTROL), 10-12 Apr 2024, Winchester, United Kingdom. Institute of Electrical and Electronics Engineers (IEEE) , pp. 307-312. ISBN 979-8-3503-7427-8
Abstract
Monitoring moving ground vehicles using vision sensors mounted on Unmanned Aerial Vehicles (UAVs) in a densely populated area with high-rise buildings is a min-max problem. The cost function minimized or maximized by a pursuer or an evader is the integral of the distance between two vehicles over a finite time interval. One of the common approaches to the optimal tracking problem for UAV s is to minimize the cost function in the worst case caused by the evader. Extending the algorithm for one UAV to an algorithm for multiple UAV s requires collision avoidance capability. The cost function degradation to achieve collision avoidance must be minimal. We present an optimal collision avoidance target tracking algorithm combining the tracking command and the collision avoidance command. Finding the optimal combination becomes a line search optimization problem that can be solved with little computation. The resulting algorithm provides acceleration commands that can be directly used in the low-level controller of UAV s. The performance of the algorithm is demonstrated by multiple computer simulations.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 06 Dec 2024 11:05 |
Last Modified: | 06 Dec 2024 11:09 |
Published Version: | https://ieeexplore.ieee.org/document/10532023 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/control60310.2024.10532023 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:220531 |