Multiple Target Tracking Using a UAV Swarm in Maritime Environments

摘要

Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this work, we introduce a collaborative model predictive control (MPC) framework aimed at addressing the joint problem of guidance and state estimation for tracking multiple castaway targets with a fleet of autonomous UAV agents. We assume that each UAV agent is equipped with a camera sensor, which has a limited sensing range and is utilized for receiving noisy observations from multiple moving castaways adrift in maritime conditions. We derive a nonlinear mixed integer programming (NMIP) -based controller that facilitates the guidance of the UAVs by generating non-myopic trajectories within a receding planning horizon. These trajectories are designed to minimize the tracking error across multiple targets by directing the UAV fleet to locations expected to yield targets measurements, thereby minimizing the uncertainty of the estimated target states. Extensive simulation experiments validate the effectiveness of our proposed method in tracking multiple castaways in maritime environments.