Path generation for ground target tracking of airplane-typed UAV

Airplane-typed UAV can perform a ground target tracking effectively by its long endurance performance. In this study, the ground target tracking with constant relative distance of target to UAV is considered. The target positioning by using flight attitude, altitude and camera pan and tilt angle is described. And by considering a circle which the center is at the target position and the radius equals to desired relative distance of target to UAV, the heading path is generated in order to fly to the circumference of the circle. Simulations were performed with a target moving faster and slower than stall speed of UAV. In the case of target moving fast, the UAV can track the target well also direction and relative distance. In the case of target moving slow, even if the UAV cannot maintain the relative distance as desired, but the UAV can track the direction of the target.