Series On Data Driven Intelligence, Sustainability, And Systems |
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Multitarget tracking control algorithm under local information selection interaction mechanism |
Jiehong Wu*(),Jinghui Yang,Weijun Zhang,Jiankai Zuo |
School of Computer Science, Shenyang Aerospace University, Shenyang 110136, China Department of Computer Science and Technology, Tongji University, Shanghai 201804, China |
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Abstract This study focuses on the problem of multitarget tracking. To address the existing problems of current tracking algorithms, as manifested by the time consumption of subgroup separation and the uneven group size of unmanned aerial vehicles (UAVs) for target tracking, a multitarget tracking control algorithm under local information selection interaction is proposed. First, on the basis of location, number, and perceived target information of neighboring UAVs, a temporary leader selection strategy is designed to realize the local follow-up movement of UAVs when the UAVs cannot fully perceive the target. Second, in combination with the basic rules of cluster movement and target information perception factors, distributed control equations are designed to achieve a rapid gathering of UAVs and consistent tracking of multiple targets. Lastly, the simulation experiments are conducted in two- and three-dimensional spaces. Under a certain number of UAVs, clustering speed of the proposed algorithm is less than 3 s, and the equal probability of the UAV subgroup size after group separation is over 78%.
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Received: 11 March 2021
Online: 19 August 2021
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Corresponding Authors:
Jiehong Wu
E-mail: wujiehong@sau.edu.cn
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About author: Jiehong Wu received the master degree from Northeastern University in 2002, and the PhD degree from Northeastern University in 2008. Her main research interests include autonomous unmanned system collaborative control, secure communication, path optimization, and energy consumption optimization.|Jinghui Yang received the bachelor degree from Tangshan University in 2018, and is currently pursuing the master degree at the School of Computer Science, Shenyang Aerospace University. His main research interests include multi-UAV cooperative control, target tracking, and deep learning.|Weijun Zhang received the master degree from Northeastern University in 2004. His main research interests include automated stereoscopic warehouse, computer detection, and control.|Jiankai Zuo received the bachelor degree from Shenyang Aerospace University in 2020, and is currently pursuing the PhD degree in computer science and technology with Tongji University, China. His research interests include machine learning, data mining, and intelligent transportation systems. |
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