Multi-UAV cooperative observation based on ESMF in 3D environments

作者：Gu Feng^*; He Yuqing; Han Jianda; Wang Yuechao

来源：Robot, 2009, 31(SUPPL.): 73-80.

• 3-D environments
• Algorithm speed
• Estimation process
• Estimation results
• Moving targets
• Multi UAV
• Multi-robot systems
• Multiple UAVs
• Observation information
• Set-membership

A new multiple unmanned aerial vehicles (UAVs) cooperative observation approach based on extended set-membership filter (ESMF) is proposed to track a moving target in 3D environments. The new method embeds the data fusion among multiple UAVs into estimation process, which decreases the data processing and improves the algorithm speed. Only observation information is transmitted by the cooperative UAV during cooperative observation, so the communication burden of the multi-UAV system is relatively light. Moreover, when fusing the observation result, the new method avoids approximating estimation result so as to improve the accuracy of the cooperative observation result. Finally, the simulations in 3D environments are conducted to verify the feasibility of the method.

• 出版日期2009
• 单位中国科学院大学