Three-dimensional guidance and control for ground moving target tracking by a quadrotor

This paper develops a three-dimensional guidance and control algorithm to ensure that a manoeuverable target is preserved by a quadrotor in a long-term tracking scenario. The proposed guidance approach determines the desired altitude of the quadrotor to adjust the field of view (FOV) to the union of...

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Bibliographic Details
Published in:Aeronautical journal 2021-08, Vol.125 (1290), p.1380-1407
Main Authors: Sepehri Movafegh, M., Dehghan, S.M.M., Zardashti, R.
Format: Article
Language:English
Subjects:
Algorithms
Altitude
Cameras
Control algorithms
Control theory
Controllers
Field of view
Guidance (motion)
Localization
Moving targets
Position errors
Predictive control
Tracking
Unmanned aerial vehicles
Upper bounds
Vehicles
Velocity
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Summary:This paper develops a three-dimensional guidance and control algorithm to ensure that a manoeuverable target is preserved by a quadrotor in a long-term tracking scenario. The proposed guidance approach determines the desired altitude of the quadrotor to adjust the field of view (FOV) to the union of two desired trusted and critical regions. The dimensions of the desired trusted region depend on the controller performance that is evaluated by the distance of the target from the center of the FOV. The critical region is a predefined margin around the trusted region that is defined by the operator based on the upper bounds of the quadrotor and target localisation errors. It also depends on the duration and magnitude of the temporal increase in the target velocity compared to the quadrotor velocity. A sufficient condition is provided for the minimum desired altitude of the quadrotor to ensure that the target is maintained in the FOV. Furthermore, a model predictive control (MPC) is employed to preserve the target at the center of the aerial image and the desired altitude determined by the guidance law. Also, the integrals of the position errors are used to achieve null steady-state errors in the presence of wind disturbances. The simulation results show the effectiveness of the proposed approach in preserving the manoeuverable target in the FOV in the presence of the wind, the uncertainty of the target and quadrotor localisation, accelerations estimation errors, and terrain altitude variation.
ISSN:0001-9240
2059-6464
DOI:10.1017/aer.2021.23