METHOD AND SYSTEM FOR AUTONOMOUS TRACKING OF A MOBILE TARGET BY AN UNMANNED AERIAL VEHICLE

摘要

A method and system for autonomous tracking of a mobile target such as a ground vehicle by an unmanned aerial vehicle are provided. The method and system utilize an approach that tracks a mobile ground target by using a ground vehicle model with an unmanned aerial vehicle model, with velocity and acceleration constraints. These real-world constraints ensure that the method is applicable to a general class of unmanned aerial vehicles and ground targets. One or more sensors are employed on the unmanned aerial vehicle, with the sensors having at least one field-of-view sensing cone over the ground. A position and path of the mobile target are monitored through input from the sensors on the unmanned aerial vehicle. The method and system detect and estimate the position and path of the mobile target when the target is inside the field-of-view sensing cone.