Collaborative Target-Localization and Information-Based Control in Networks of UAVs
Collaborative Target-Localization and Information-Based Control in Networks of UAVs
复制标题
无人机网络中的协同目标定位和基于信息的控制
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
P. Djurić
中科院分区：
文献类型：
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作者：
Anna Guerra;Nicola Spamacci;D. Dardari;P. Djurić
本文研究了无人机网络对目标进行高精度定位的能力。本文提出了一种基于信息搜索准则的无人机导航编队分布式控制方案，使目标定位精度最大化。假设每架无人机能够与邻近区域内的其他无人机通信和协作，考虑到定位精度和收敛速度之间的权衡，允许可行的分布式解决方案。这样的调查还考虑了通信延迟约束以及安全要求，如无人机间和障碍物碰撞避免。
In this paper, we study the capacity of UAV networks for high-accuracy localization of targets. We address the problem of designing a distributed control scheme for UAV navigation and formation based on an information-seeking criterion maximizing the target localization accuracy. Each UAV is assumed to be able to communicate and collaborate with other UAVs that are within a neighboring region, allowing for a feasible distributed solution which takes into account a trade-off between localization accuracy and speed of convergence to a suitable localization of the target. Such an investigation also considers communication latency constraints as well as safety requirements such as inter-UAV and obstacle collision avoidance.