利用可见性体积的 Dubins 飞行器遮挡感知地面目标跟踪
Occlusion-Aware Ground Target Tracking by a Dubins Vehicle using Visibility Volumes
AI总结：
针对城市遮挡环境下 Dubins 无人机跟踪地面已知轨迹目标的问题，提出基于可见性体积的时变防区外轨道与引导控制方法，并通过仿真和飞行试验验证。
摘要：
本文研究了使用建模为 Dubins 飞行器的无人飞行器（UAV），借助视线（LOS）传感器，在可能遮挡兴趣点（POI）的城市环境中跟踪沿已知轨迹在地面上移动的 POI 的问题。可见性体积（VV）对特定 POI 位置的感知约束进行时变三维表示编码。随后，在以 POI 位置为中心、动态变化的 VV 内接一个定高、平移且径向时变的圆形防区外轨道。通过沿 POI 轨迹放置静态 VV，并采用将连续 VV 之间的体积变化限制在指定速率以下的自适应度量，来近似时变 VV。时变圆形防区外轨道被证明对 Dubins 飞行器是可行的，并在静态 VV 内用一组分段线性插值的圆形轨道进行近似。推导了一个引导控制器，驱动 UAV 到达时变防区外轨道。数值仿真和飞行试验说明了所提方法。
英文摘要：
This paper considers the problem of tracking a point of interest (POI) moving along a known trajectory on the ground with an uncrewed aerial vehicle (UAV) modeled as a Dubins vehicle using a line-of-sight (LOS) sensor through an urban environment that may occlude the POI. A visibility volume (VV) encodes a time-varying, three-dimensional representation of the sensing constraints for a particular POI position. A constant-altitude, translating, and radially time-varying circular standoff orbit is then inscribed within the dynamically changing VV centered at the POI position. The time-varying VV is approximated by placing static VVs along the POI's trajectory using an adaptive metric that restricts the volume change of consecutive VVs to below a specified rate. The time-varying circular standoff orbit is proven to be feasible for a Dubins vehicle and approximated with a piecewise set of linearly interpolated circular orbits inside the static VVs. A steering controller is derived that drives the UAV to the time-varying standoff orbit. Numerical simulations and a flight test illustrate the proposed approach.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
