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Unmanned Aerial Vehicles (UAVs) are increasingly vital across various fields. However, accurately obtaining distance information remains challenging for UAVs equipped with a single visual sensor, making it difficult for a single UAV to achieve 3D spatial localization of a target based on a single measurement. This paper presents a two-stage tracking method: Multi-UAV Target Tracking Based Solely on Angle-of-Arrival and Adaptive Multi-UAV Control for Optimized Perception Tasks. The first stage enables effective target tracking, while the second stage improves tracking accuracy by optimizing UAV control dynamics for high-speed moving targets. Simulation results validate the effectiveness of this approach, demonstrating that it can achieve reliable target tracking even in noisy environments.

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Cooperative Multi-UAV Target Tracking and Control Using Bearing-Only Measurements

  • 会议论文

  • 发表日期：

    2025年

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  • Jiatong Li,
  • Jinwen Hu,
  • Yifei Lei,
  • Zhao Xu

摘要

Unmanned Aerial Vehicles (UAVs) are increasingly vital across various fields. However, accurately obtaining distance information remains challenging for UAVs equipped with a single visual sensor, making it difficult for a single UAV to achieve 3D spatial localization of a target based on a single measurement. This paper presents a two-stage tracking method: Multi-UAV Target Tracking Based Solely on Angle-of-Arrival and Adaptive Multi-UAV Control for Optimized Perception Tasks. The first stage enables effective target tracking, while the second stage improves tracking accuracy by optimizing UAV control dynamics for high-speed moving targets. Simulation results validate the effectiveness of this approach, demonstrating that it can achieve reliable target tracking even in noisy environments.