{"title":"Multi-dynamic target coverage tracking control strategy based on multi-UAV collaboration","authors":"Qiankun Sun , Weifeng Liu , Lei Cai","doi":"10.1016/j.conengprac.2024.106170","DOIUrl":null,"url":null,"abstract":"<div><div>In response to the issues of mutual interference among multiple targets, dynamic changes in coverage area, and the difficulty in accurately estimating the optimal coverage positions during the coverage and tracking control process, this article proposes a multi-dynamic target coverage tracking control strategy based on Multiple Unmanned Aerial Vehicle (Multi-UAV) cooperation. To address the problem of estimating the number and location of optimal coverage points for multi-dynamic targets, we propose a dynamic estimation strategy of optimal coverage points for multi-dynamic targets; for the under-coverage problem, we propose an optimal coverage point estimation method for under-coverage conditions in order to improve the cost-effectiveness of coverage. Subsequently, a multi-UAV scheduling strategy based on the coverage cleanup cost is proposed, which assigns appropriate UAVs to perform coverage cleanup tasks for different coverage points. Addressing the performance constraints, path smoothness, collision avoidance, and path tracking problems of UAVs, we introduce B-spline-based multi-UAV path planning and line-of-sight-based guidance methods to achieve multi-UAV coverage tracking control for multi-dynamic targets. Finally, the proposed method is applied to an ocean oil spill coverage cleanup task. Both simulation and emulation results validate the theoretical findings and demonstrate the effectiveness of the proposed method for such applications.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"155 ","pages":"Article 106170"},"PeriodicalIF":5.4000,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0967066124003290","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
In response to the issues of mutual interference among multiple targets, dynamic changes in coverage area, and the difficulty in accurately estimating the optimal coverage positions during the coverage and tracking control process, this article proposes a multi-dynamic target coverage tracking control strategy based on Multiple Unmanned Aerial Vehicle (Multi-UAV) cooperation. To address the problem of estimating the number and location of optimal coverage points for multi-dynamic targets, we propose a dynamic estimation strategy of optimal coverage points for multi-dynamic targets; for the under-coverage problem, we propose an optimal coverage point estimation method for under-coverage conditions in order to improve the cost-effectiveness of coverage. Subsequently, a multi-UAV scheduling strategy based on the coverage cleanup cost is proposed, which assigns appropriate UAVs to perform coverage cleanup tasks for different coverage points. Addressing the performance constraints, path smoothness, collision avoidance, and path tracking problems of UAVs, we introduce B-spline-based multi-UAV path planning and line-of-sight-based guidance methods to achieve multi-UAV coverage tracking control for multi-dynamic targets. Finally, the proposed method is applied to an ocean oil spill coverage cleanup task. Both simulation and emulation results validate the theoretical findings and demonstrate the effectiveness of the proposed method for such applications.
期刊介绍:
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.