Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localizatio...Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.展开更多
We consider a scenario where an unmanned aerial vehicle(UAV),a typical unmanned aerial system(UAS),transmits confidential data to a moving ground target in the presence of multiple eavesdroppers.Multiple friendly reco...We consider a scenario where an unmanned aerial vehicle(UAV),a typical unmanned aerial system(UAS),transmits confidential data to a moving ground target in the presence of multiple eavesdroppers.Multiple friendly reconfigurable intelligent surfaces(RISs) help to secure the UAV-target communication and improve the energy efficiency of the UAV.We formulate an optimization problem to minimize the energy consumption of the UAV,subject to the mobility constraint of the UAV and that the achievable secrecy rate at the target is over a given threshold.We present an online planning method following the framework of model predictive control(MPC) to jointly optimize the motion of the UAV and the configurations of the RISs.The effectiveness of the proposed method is validated via computer simulations.展开更多
基金the National Natural Science Foundation of China(Grant Nos.62303348 and 62173242)the Aeronautical Science Foundation of China(Grant No.2024M071048002)the National Science Fund for Distinguished Young Scholars(Grant No.62225308)to provide fund for conducting experiments.
文摘Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.
基金funding from the Australian Government,via grant AUSMURIB000001 associated with ONR MURI Grant N00014-19-1-2571。
文摘We consider a scenario where an unmanned aerial vehicle(UAV),a typical unmanned aerial system(UAS),transmits confidential data to a moving ground target in the presence of multiple eavesdroppers.Multiple friendly reconfigurable intelligent surfaces(RISs) help to secure the UAV-target communication and improve the energy efficiency of the UAV.We formulate an optimization problem to minimize the energy consumption of the UAV,subject to the mobility constraint of the UAV and that the achievable secrecy rate at the target is over a given threshold.We present an online planning method following the framework of model predictive control(MPC) to jointly optimize the motion of the UAV and the configurations of the RISs.The effectiveness of the proposed method is validated via computer simulations.
