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Unmanned aerial vehicle (UAV) has received extensive attention in recent years. It is significant to achieve proximal observation of non-cooperative, highly dynamic, and large solidity targets by using of UAV. In this paper, a three-stage control method is proposed to solve this problem, which includes bearing-only tracking, obstacle-avoidance tracking, and proximity-based observation. Specifically, radar and depth camera, are used for observation, and the three-stage control method is designed by refinement of the traditional path planning method Rapidly-exploring Random Tree (RRT) and Model Predictive Control (MPC) technologies. A quadcopter model was developed in Gazebo, where its feasibility in validating the control method was demonstrated, providing essential technical support for the approach and observation of non-cooperative targets.

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Cognitive-Based Autonomous Orbit of Non-Cooperative Targets

  • 会议论文

  • 发表日期：

    2025年

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  • Jianliang Ma,
  • Lele Zhang,
  • Jian Yang,
  • Fang Deng

摘要

Unmanned aerial vehicle (UAV) has received extensive attention in recent years. It is significant to achieve proximal observation of non-cooperative, highly dynamic, and large solidity targets by using of UAV. In this paper, a three-stage control method is proposed to solve this problem, which includes bearing-only tracking, obstacle-avoidance tracking, and proximity-based observation. Specifically, radar and depth camera, are used for observation, and the three-stage control method is designed by refinement of the traditional path planning method Rapidly-exploring Random Tree (RRT) and Model Predictive Control (MPC) technologies. A quadcopter model was developed in Gazebo, where its feasibility in validating the control method was demonstrated, providing essential technical support for the approach and observation of non-cooperative targets.