Multiple Maneuvering Target Tracking using a Single UAV

This paper solves the problem of tracking multiple maneuvering ground targets using a UAV. The targets are widespread so that they may not be covered by the UAV’s detection range simultaneously. 

We apply such strategy that whenever it is unable to detect all the targets, the UAV temporarily covers only some of the targets, and goes back to the lost targets later. 

• A recursive Bayesian estimation algorithm is proposed to keep track of the lost targets; 

• a guidance objective function is then formulated to minimize the tracking uncertainty. 

By integrating the proposed estimation and the guidance methods, we develop an efficient closed-loop multi-target tracking algorithm. The effectiveness of the proposed approach is demonstrated with illustrative numerical examples.

Related Publications

• C. Zhang and I. Hwang, “Multiple Maneuvering Target Tracking Using A Single Unmanned Aerial Vehicle,” AIAA Journal of Guidance, Control and Dynamics, (submitted on December 22, 2016; under review)