Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs

This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs whi...
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Autor*in:	Li-Li Li [verfasserIn] Xiaoyong Zhang [verfasserIn] Wei Yue [verfasserIn] Zhongchang Liu [verfasserIn] Xin Ge [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2020

Schlagwörter:	Real-time path planning collision-free guidance vector fields Lyapunov guidance vector field target tracking collision avoidance

Übergeordnetes Werk:	In: IEEE Access - IEEE, 2014, 8(2020), Seite 192616-192630
Übergeordnetes Werk:	volume:8 ; year:2020 ; pages:192616-192630

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1109/ACCESS.2020.3032750

Katalog-ID:	DOAJ016144848

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allfields	10.1109/ACCESS.2020.3032750 doi (DE-627)DOAJ016144848 (DE-599)DOAJ29d8f975002248078abe8dc9bc4cb9ec DE-627 ger DE-627 rakwb eng TK1-9971 Li-Li Li verfasserin aut Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach. Real-time path planning collision-free guidance vector fields Lyapunov guidance vector field target tracking collision avoidance Electrical engineering. Electronics. Nuclear engineering Xiaoyong Zhang verfasserin aut Wei Yue verfasserin aut Zhongchang Liu verfasserin aut Xin Ge verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 192616-192630 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:192616-192630 https://doi.org/10.1109/ACCESS.2020.3032750 kostenfrei https://doaj.org/article/29d8f975002248078abe8dc9bc4cb9ec kostenfrei https://ieeexplore.ieee.org/document/9234598/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 192616-192630
spelling	10.1109/ACCESS.2020.3032750 doi (DE-627)DOAJ016144848 (DE-599)DOAJ29d8f975002248078abe8dc9bc4cb9ec DE-627 ger DE-627 rakwb eng TK1-9971 Li-Li Li verfasserin aut Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach. Real-time path planning collision-free guidance vector fields Lyapunov guidance vector field target tracking collision avoidance Electrical engineering. Electronics. Nuclear engineering Xiaoyong Zhang verfasserin aut Wei Yue verfasserin aut Zhongchang Liu verfasserin aut Xin Ge verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 192616-192630 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:192616-192630 https://doi.org/10.1109/ACCESS.2020.3032750 kostenfrei https://doaj.org/article/29d8f975002248078abe8dc9bc4cb9ec kostenfrei https://ieeexplore.ieee.org/document/9234598/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 192616-192630
allfields_unstemmed	10.1109/ACCESS.2020.3032750 doi (DE-627)DOAJ016144848 (DE-599)DOAJ29d8f975002248078abe8dc9bc4cb9ec DE-627 ger DE-627 rakwb eng TK1-9971 Li-Li Li verfasserin aut Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach. Real-time path planning collision-free guidance vector fields Lyapunov guidance vector field target tracking collision avoidance Electrical engineering. Electronics. Nuclear engineering Xiaoyong Zhang verfasserin aut Wei Yue verfasserin aut Zhongchang Liu verfasserin aut Xin Ge verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 192616-192630 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:192616-192630 https://doi.org/10.1109/ACCESS.2020.3032750 kostenfrei https://doaj.org/article/29d8f975002248078abe8dc9bc4cb9ec kostenfrei https://ieeexplore.ieee.org/document/9234598/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 192616-192630
allfieldsGer	10.1109/ACCESS.2020.3032750 doi (DE-627)DOAJ016144848 (DE-599)DOAJ29d8f975002248078abe8dc9bc4cb9ec DE-627 ger DE-627 rakwb eng TK1-9971 Li-Li Li verfasserin aut Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach. Real-time path planning collision-free guidance vector fields Lyapunov guidance vector field target tracking collision avoidance Electrical engineering. Electronics. Nuclear engineering Xiaoyong Zhang verfasserin aut Wei Yue verfasserin aut Zhongchang Liu verfasserin aut Xin Ge verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 192616-192630 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:192616-192630 https://doi.org/10.1109/ACCESS.2020.3032750 kostenfrei https://doaj.org/article/29d8f975002248078abe8dc9bc4cb9ec kostenfrei https://ieeexplore.ieee.org/document/9234598/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 192616-192630
allfieldsSound	10.1109/ACCESS.2020.3032750 doi (DE-627)DOAJ016144848 (DE-599)DOAJ29d8f975002248078abe8dc9bc4cb9ec DE-627 ger DE-627 rakwb eng TK1-9971 Li-Li Li verfasserin aut Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach. Real-time path planning collision-free guidance vector fields Lyapunov guidance vector field target tracking collision avoidance Electrical engineering. Electronics. Nuclear engineering Xiaoyong Zhang verfasserin aut Wei Yue verfasserin aut Zhongchang Liu verfasserin aut Xin Ge verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 192616-192630 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:192616-192630 https://doi.org/10.1109/ACCESS.2020.3032750 kostenfrei https://doaj.org/article/29d8f975002248078abe8dc9bc4cb9ec kostenfrei https://ieeexplore.ieee.org/document/9234598/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 192616-192630
language	English
source	In IEEE Access 8(2020), Seite 192616-192630 volume:8 year:2020 pages:192616-192630
sourceStr	In IEEE Access 8(2020), Seite 192616-192630 volume:8 year:2020 pages:192616-192630
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Real-time path planning collision-free guidance vector fields Lyapunov guidance vector field target tracking collision avoidance Electrical engineering. Electronics. Nuclear engineering
isfreeaccess_bool	true
container_title	IEEE Access
authorswithroles_txt_mv	Li-Li Li @@aut@@ Xiaoyong Zhang @@aut@@ Wei Yue @@aut@@ Zhongchang Liu @@aut@@ Xin Ge @@aut@@
publishDateDaySort_date	2020-01-01T00:00:00Z
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callnumber-first	T - Technology
author	Li-Li Li
spellingShingle	Li-Li Li misc TK1-9971 misc Real-time path planning misc collision-free guidance vector fields misc Lyapunov guidance vector field misc target tracking misc collision avoidance misc Electrical engineering. Electronics. Nuclear engineering Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs
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topic_title	TK1-9971 Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs Real-time path planning collision-free guidance vector fields Lyapunov guidance vector field target tracking collision avoidance
topic	misc TK1-9971 misc Real-time path planning misc collision-free guidance vector fields misc Lyapunov guidance vector field misc target tracking misc collision avoidance misc Electrical engineering. Electronics. Nuclear engineering
topic_unstemmed	misc TK1-9971 misc Real-time path planning misc collision-free guidance vector fields misc Lyapunov guidance vector field misc target tracking misc collision avoidance misc Electrical engineering. Electronics. Nuclear engineering
topic_browse	misc TK1-9971 misc Real-time path planning misc collision-free guidance vector fields misc Lyapunov guidance vector field misc target tracking misc collision avoidance misc Electrical engineering. Electronics. Nuclear engineering
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title	Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs
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title_full	Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs
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title_sort	hierarchical collaboration approach for tracking of flying target by uavs
callnumber	TK1-9971
title_auth	Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs
abstract	This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach.
abstractGer	This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach.
abstract_unstemmed	This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the high-altitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach.
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title_short	Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs
url	https://doi.org/10.1109/ACCESS.2020.3032750 https://doaj.org/article/29d8f975002248078abe8dc9bc4cb9ec https://ieeexplore.ieee.org/document/9234598/ https://doaj.org/toc/2169-3536
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author2	Xiaoyong Zhang Wei Yue Zhongchang Liu Xin Ge
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doi_str	10.1109/ACCESS.2020.3032750
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up_date	2024-07-03T19:15:11.806Z
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