Abstract
In this paper, we present a novel approach for stationary target tracking in reconnaissance operations with a small UAV group. A reconnaissance mission has multiple competing requirements, such as short scan time and repetitive scanning of the entire area, target recognition, and target tracking. Especially in real-world military reconnaissance scenarios, different types of targets with hostile characteristics exist. The UAVs must scan and track the targets while avoiding detection by enemies. Although small UAVs are unlikely to be detected, they become prone to detection if their path is predictable. To meet these competitive requirements, we propose an attractive pheromone-based cooperative path planning method that makes path prediction almost impossible by ensuring a random path selection mechanism. To avoid detection during target tracking, we implement a new discrete-time tracking scheme with random time intervals and random path planning for multiple UAVs. The proposed model enables a UAV group to sporadically scan the entire area, quickly locate the targets, and simultaneously track the targets based on their priority. In addition, it offers a mechanism that permits the command and control center to balance between reconnaissance and target tracking operations to meet every mission requirement.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Atten, C., Channouf, L., Danoy, G., Bouvry, P.: UAV fleet mobility model with multiple pheromones for tracking moving observation targets. In: 19th European Conference on the Applications of Evolutionary Computation, pp. 332–347. Springer, Porto (2016)
Bekmezci, I., Sahingoz, O.K., Temel, Ş.: Flying ad-hoc networks (FANETs): a survey. Ad Hoc Netw. 11(3), 1254–1270 (2013)
Tian, X., Bar-Shalom, Y., Pattipati, K.R.: Multi-step look-ahead policy for autonomous cooperative surveillance by UAVs in hostile environments. In: 47th IEEE Conference on Decision and Control (CDC), pp. 2438–2443. IEEE, Mexico (2008)
Flint, M., Polycarpou, M., Fernandez-Gaucherand, E.: Cooperative control for multiple autonomous UAV’s searching for targets. In: Proceedings of the 41st IEEE Conference on Decision and Control, pp. 2823–2828. IEEE, Las Vegas (2002)
Forsmo, E.J., Fossen, T.I., Johansen, T.A.: Optimal search mission with unmanned aerial vehicles using mixed integer linear programming. In: International Conference on Unmanned Aircraft Systems (ICUAS), pp. 253–259. IEEE, Atlanta (2013)
Baras, J.S., Tan, X., Hovareshti, P.: Decentralized control of autonomous vehicles. In: Proceedings. 42nd IEEE Conference on Decision and Control, pp. 1532–1537. IEEE, Maui (2003)
Waharte, S., Trigoni, N., Julier, S.: Coordinated search with a swarm of uavs. In: 6th IEEE Annual Communications Society Conference on Sensor, Mesh and Ad Hoc Communications and Networks Workshops (SECON Workshop), pp. 1–3. IEEE, USA (2009)
Peacock, M.: Detection and Control of Small Civilian UAVs. Edith Cowan University (2014)
Bhatti, S., Xu, J.: Survey of target tracking protocols using wireless sensor network. In: 5th International Conference on Wireless and Mobile Communications (ICWMC), pp. 110–115. IEEE, Cannes (2009)
Kuiper, E., Nadjm-Tehrani, S.: Mobility Models for UAV Group Reconnaissance Applications. In: International Conference on Wireless and Mobile Communications (ICWMC), pp. 33–33. IEEE, Bucharest (2006)
Bednowitz, N., Batta, R., Nagi, R.: Dispatching and loitering policies for unmanned aerial vehicles under dynamically arriving multiple priority targets. Journal of Simulation 8(1), 9–24 (2014)
Dixon, S.R., Wickens, C.D., Chang, D.: Mission control of multiple unmanned aerial vehicles: a workload analysis. Human Factors: The Journal of the Human Factors and Ergonomics Society 47(3), 479–487 (2005)
Schleich, J., Panchapakesan, A., Danoy, G., Bouvry, P.: UAV fleet area coverage with network connectivity constraint. In: Proceedings of the 11th ACM International Symposium on Mobility Management and Wireless Access, Barcelona, pp. 131–138. ACM (2013)
Ma, L., Hovakimyan, N.: Cooperative target tracking in balanced circular formation: multiple UAVs tracking a ground vehicle. In: American Control Conference (ACC), pp. 5386–5391. IEEE, Washington DC (2013)
Zhang, M., Liu, H.H.: Cooperative tracking a moving target using multiple fixed-wing UAVs. J. Intell. Robot. Syst. 81(3-4), 505–529 (2016)
Ma, L., Hovakimyan, N.: Cooperative target tracking with time-varying formation radius. In: European Control Conference (ECC), Linz, pp. 1699–1704. IEEE (2015)
Stolle, S., Rysdyk, R.: Flight path following guidance for unmanned air vehicles with pan-tilt camera for target observation. In: The 22nd Digital Avionics Systems Conference (DASC), vol. 82, pp. 8.B.3-1–8.B.3-12. IEEE, Indianapolis (2003)
Barber, D.B., Redding, J.D., McLain, T.W., Beard, R.W., Taylor, C.N.: Vision-based target geo-location using a fixed-wing miniature air vehicle. J. Intell. Robot. Syst. 47(4), 361–382 (2006)
Elfes, A.: Occupancy grids: a stochastic spatial representation for active robot perception. In: The 6Th Conference on Unvertainty in Aritificial Intelligence (UAI), pp. 142–147. Cornell University Library, Cambridge (1990)
Chung, T.H., Burdick, J.W.: Analysis of search decision making using probabilistic search strategies. IEEE Trans. Rob. 28(1), 132–144 (2012)
Khan, A., Yanmaz, E., Rinner, B.: Information exchange and decision making in micro aerial vehicle networks for cooperative search. IEEE Transactions on Control of Network Systems 2(4), 335–347 (2015)
Hu, J., Xie, L., Lum, K.-Y., Xu, J.: Multiagent information fusion and cooperative control in target search. IEEE T. Contr. Syst. T. 21(4), 1223–1235 (2013)
Zhong, M., Cassandras, C.G.: Distributed coverage control and data collection with mobile sensor networks. IEEE Trans. Autom. Control. 56(10), 2445–2455 (2011)
Schesvold, D., Tang, J., Ahmed, B.M., Altenburg, K., Nygard, K.E.: POMDP planning for high level UAV decisions: search vs. strike. In: Proceedings of the 16th International Conference on Computer Applications in Industry and Engineering, Las Vegas. NDSU (2003)
Waharte, S., Trigoni, N.: Supporting search and rescue operations with UAVs. In: International Conference on Emerging Security Technologies (EST), pp. 142–147. IEEE, Canterbury (2010)
Henderson, T.R., Lacage, M., Riley, G.F., Dowell, C., Kopena, J.: Network simulations with the ns-3 simulator. In: SIGCOMM Demonstration, 14(14), p 527. ACM (2008)
Acknowledgements
This research was supported in part by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2015R1D1A1A01059623) and by Next-Generation Information Computing Development Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science and ICT (No. NRF 2017M3C4A7083676).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Mahmud, I., Cho, YZ. Detection Avoidance and Priority-Aware Target Tracking for UAV Group Reconnaissance Operations. J Intell Robot Syst 92, 381–392 (2018). https://doi.org/10.1007/s10846-017-0745-9
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-017-0745-9
Keywords
- UAVs path planning
- Attractive pheromone
- Reconnaissance
- Target tracking
- Target priority
- Detection avoidance