JACIII Vol.19 No.2 pp. 277-283
doi: 10.20965/jaciii.2015.p0277


Ground Target Tracking and Collision Avoidance for UAV Based Guidance Vector Field

Zhihong Peng and Zhimin Chen

School of Automation, Beijing Institute of Technology
No.5 Yard, Zhong Guan Cun South Street, Haidian District, Beijing 100081, China
Corresponding author

July 1, 2014
December 12, 2014
Online released:
March 20, 2015
March 20, 2015
unmanned aerial vehicle (UAV), guidance vector field, target tracking, collision avoidance

This paper focuses on ground-moving target tracking of an unmanned aerial vehicle (UAV) in the presence of static obstacles and moving threat sources. Due to a UAV is restricted by airspace restrictions and measurement limitations during flight, we derive a dynamic path planning strategy by generating guidance vector filed combined Lyapunov vector field with collision avoidance potential function to track target in standoff distance loitering pattern, and resolved collision avoidance, simultaneously. This method relies only on the current information of the UAV and target, and generates a single-step route plan in realtime. Its performance is simple, efficient, and fast and have low computational complexity. The results of numerical simulation verify the effectiveness of the tracking and collision avoidance process of the UAV.

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Last updated on Mar. 28, 2017