NDLI: Real-Time Target Tracking for Autonomous UAVs in Adversarial Environments: A Gradient Search Algorithm

Content Provider	IEEE Xplore Digital Library
Author	Zengin, U. Dogan, A.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. & Aerosp. Eng., Texas Univ., Arlington, TX (Zengin, U.)
Abstract	In this paper, we present a real-time target tracking strategy for autonomous UAV operations in adversarial environments. The strategy generates the commanded heading and speed within the dynamic constraints of the UAV (i) to ensure that the UAV does not enter restricted regions (ii) to maintain the pursuit of the target (iii) to minimize the threat exposure level of the UAV. Probabilistic threat exposure map (PTEM) of the area of operation is generated by using a set of Gaussian probability distribution functions. PTEM defines various types of threats in a single framework and gives the risk of exposure to these sources of threat as a function of position. A steepest gradient search approach is utilized to determine in which direction the UAV should move to minimize the threat exposure or maximize the likelihood of avoiding a restricted region. Simulation results show the capability of the strategy to track a maneuvering target in an adversarial environment
Starting Page	697
Ending Page	702
File Size	350043
Page Count	6
File Format	PDF
ISBN	1424401712
DOI	10.1109/CDC.2006.377652
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Target tracking Unmanned aerial vehicles Vehicle dynamics Aerodynamics Aerospace engineering Search methods USA Councils Probability distribution Humans Navigation
Content Type	Text
Resource Type	Article

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