Multi-UAV Cooperative Target Tracking Method using sparse A search and Standoff tracking algorithms

To solve the problem of cooperative target tracking considering ground moving-targets and threats, a novel approach for multiple unmanned aerial vehicles (multi-UAV) cooperative target tracking using sparse A* search and Standoff tracking algorithms is proposed. Firstly, sparse A* search algorithm is introduced to generate multiple paths for UAVs subject to the threats and UAV kinematics constraints. And multi-UAV rendezvous at a predefined formation nearby the moving-target. Then, considering the target tracking distance and relative phase angle constraints, the Standoff tracking algorithm is utilized to generate cooperative tracking paths. Simulation results demonstrate that the multi-UAV cooperative target tracking method can effectively avoid threats and achieve persistent moving-target tracking and monitoring in the mission areas.