Optimal Tracking & Evasive Algorithms For Fixed-Wing UAV & Target In 3-Dimensional Space

We present a three-dimensional optimal target tracking algorithm that enables an Unmanned Aerial Vehicle (UAV) to track a smart evasive ground-moving target. The UAV and target control algorithms are designed using two-step prediction schematics. For the UAV, the control strategy assumes a worst-case target evasion and derives a cost function to be continuously minimized. Conversely, the target evasion algorithm is developed by assuming a best-case UAV tracking scenario and establishing a cost function to persistently maximize their relative distance. In addition to acceleration and velocity constraints, the UAV and target control strategies are constrained by turn radius, turn rate, and bank angle limits. Simulations show that the UAV is able to pursue, maintain proximity and keep the target within its camera field of view despite frequent sharp evasive turns performed by the target.