Distributed Cooperation Target Tracking Method for Multiple Heterogeneous UAVs under Communication and Measurement Constraints

• 1、Dept. of Automatic Control, Beijing University of Aeronautics and Astronautics

Abstract：This paper presents multiple UAVs system‘s observation and tracking problems based on local horizon communication and limited detection range. The communication structure of UAVs system is designed as the heterogeneous Leader-Follower type, for the purpose of enlarging detection and attack depth under electronic silence and tactics invisibility. Information Consensus Filter (ICF) is adapted to data fusion. Because consensus algorithm’s convergence is relevant to the connectivity of topology graph, geometric connectivity robustness is introduced as an optimal index to solve the distributed filter and control problem under communication con-straint. We take the leader as the control center, and use the Receding Horizon Optimization (RHO) to solve the optimal commend heading angels and control each UAV‘s trajectory to acquire a best tracking performance. Simulations reveal that the ICF in this paper is parallel to the centralized information filter. Compared to the op-timization when ignoring the geometric connectivity robustness, this method can dramatically enhance the con-nectivity of the topology graph, promote the convergence of consensus algorithm, and improve the reliability and robustness of the tracking system.

Keywords： Leader-Follower Communication and Measurement Constraints Target observation Information Consensus Filter Geometric Connectivity Robustness RHO