Abstract
In this paper, we present a novel approach for stationary target tracking in reconnaissance operations with a small UAV group. A reconnaissance mission has multiple competing requirements, such as short scan time and repetitive scanning of the entire area, target recognition, and target tracking. Especially in real-world military reconnaissance scenarios, different types of targets with hostile characteristics exist. The UAVs must scan and track the targets while avoiding detection by enemies. Although small UAVs are unlikely to be detected, they become prone to detection if their path is predictable. To meet these competitive requirements, we propose an attractive pheromone-based cooperative path planning method that makes path prediction almost impossible by ensuring a random path selection mechanism. To avoid detection during target tracking, we implement a new discrete-time tracking scheme with random time intervals and random path planning for multiple UAVs. The proposed model enables a UAV group to sporadically scan the entire area, quickly locate the targets, and simultaneously track the targets based on their priority. In addition, it offers a mechanism that permits the command and control center to balance between reconnaissance and target tracking operations to meet every mission requirement.
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Acknowledgements
This research was supported in part by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2015R1D1A1A01059623) and by Next-Generation Information Computing Development Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science and ICT (No. NRF 2017M3C4A7083676).
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Mahmud, I., Cho, YZ. Detection Avoidance and Priority-Aware Target Tracking for UAV Group Reconnaissance Operations. J Intell Robot Syst 92, 381–392 (2018). https://doi.org/10.1007/s10846-017-0745-9
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DOI: https://doi.org/10.1007/s10846-017-0745-9
Keywords
- UAVs path planning
- Attractive pheromone
- Reconnaissance
- Target tracking
- Target priority
- Detection avoidance