TY - GEN
T1 - Cognitive-Based Autonomous Orbit of Non-Cooperative Targets
AU - Ma, Jianliang
AU - Zhang, Lele
AU - Yang, Jian
AU - Deng, Fang
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - Unmanned aerial vehicle (UAV) has received extensive attention in recent years. It is significant to achieve proximal observation of non-cooperative, highly dynamic, and large solidity targets by using of UAV. In this paper, a three-stage control method is proposed to solve this problem, which includes bearing-only tracking, obstacle-avoidance tracking, and proximity-based observation. Specifically, radar and depth camera, are used for observation, and the three-stage control method is designed by refinement of the traditional path planning method Rapidly-exploring Random Tree (RRT) and Model Predictive Control (MPC) technologies. A quadcopter model was developed in Gazebo, where its feasibility in validating the control method was demonstrated, providing essential technical support for the approach and observation of non-cooperative targets.
AB - Unmanned aerial vehicle (UAV) has received extensive attention in recent years. It is significant to achieve proximal observation of non-cooperative, highly dynamic, and large solidity targets by using of UAV. In this paper, a three-stage control method is proposed to solve this problem, which includes bearing-only tracking, obstacle-avoidance tracking, and proximity-based observation. Specifically, radar and depth camera, are used for observation, and the three-stage control method is designed by refinement of the traditional path planning method Rapidly-exploring Random Tree (RRT) and Model Predictive Control (MPC) technologies. A quadcopter model was developed in Gazebo, where its feasibility in validating the control method was demonstrated, providing essential technical support for the approach and observation of non-cooperative targets.
KW - MPC
KW - Obstacle avoidance
KW - RRT
KW - UAV
UR - http://www.scopus.com/pages/publications/105013026179
U2 - 10.1007/978-981-96-7438-1_20
DO - 10.1007/978-981-96-7438-1_20
M3 - Conference contribution
AN - SCOPUS:105013026179
SN - 9789819674374
T3 - Communications in Computer and Information Science
SP - 222
EP - 234
BT - Cognitive Computation and Systems - 3rd International Conference, ICCCS 2024, Revised Selected Papers
A2 - Xu, Bin
A2 - Qiu, Jianlong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd International Conference on Cognitive Computation and Systems, ICCCS 2024
Y2 - 20 December 2024 through 22 December 2024
ER -