Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (3): 832-840.doi: 10.13229/j.cnki.jdxbgxb20220425

Previous Articles    

Ground moving target search and location with multi⁃unmanned aerial vehicles

Zhuo-jun XU1(),Yao-xiang WANG1,Xing HUANG1,Cheng PENG2   

  1. 1.College of Communication Engineering，Jilin University，Changchun 130022，China
    2.Changchun Institute of Optics，Fine Mechanics and Physics，Chinese Academy of Sciences，Changchun 130033，China
  • Received:2022-04-17 Online:2023-03-01 Published:2023-03-29

RICH HTML

 12   

PDF (PC)

600

Abstract:

In order to improve the efficiency of multi-unmanned aerial vehicle search， reduce the error impact caused by operation and communication delay， and improve the positioning accuracy in the actual search process： the man-machine manually searched for the frame to select the target and extracted the shared information of the target； then the other machine used YOLOv3 to automatically detect and locate the target according to the shared information； finally， a KCF-based delay error compensation algorithm was designed to estimate and compensate the coordinate error in the selection process. The experimental results show that the above method effectively improves the efficiency and accuracy of multi-machine search and positioning.

Key words: control theory and control engineering, multi-UAV, target search, error compensation

CLC Number: 

  • TP242

Fig.1

Positioning schematic"

Fig.2

Relationship diagram of pixel coordinate system and image coordinate system"

Fig.3

Relationship between coordinate systems"

Fig.4

Network structure of YOLOv3"

Fig.5

Structure of Darknet-53"

Fig.6

Selected map before information sharing"

Fig.7

Selected map after information sharing"

Fig.8

Error curve of working condition 1"

Fig.9

Comparison experiment diagram of different delay results in condition 1"

Fig.10

Error curve of working condition 2"

Fig.11

Comparison experiment diagram of different delay results in condition 2"

Fig.12

Error curve of working condition 3"

Fig.13

Comparison experiment diagram of different delay results in condition 3"

Table 1

Running time of error compensation algorithm for each working conditions"

运行次数工况1工况2工况3
平均值0.10460.18740.2149
10.11200.18980.2136
20.10320.18630.2185
30.09850.18620.2125
1 陈强, 许洪国, 谭立东. 基于小型无人机摄影测量的交通事故现场勘查[J]. 吉林大学学报:工学版, 2016, 46(5): 1439-1446.
Chen Qiang, Xu Hong-guo, Tan Li-dong. Surveying method of traffic accident scene based on SUAV photogrammetry[J]. Journal of Jilin University (Engineering and Technology Edition), 2016, 46(5): 1439-1446.
2 邸斌, 周锐, 董卓宁. 考虑信息成功传递概率的多无人机协同目标最优观测与跟踪[J]. 控制与决策, 2016, 31(4): 616-622.
Di Bin, Zhou Rui, Dong Zhuo-ning. Cooperative localization and tracking of multiple targets with the communication-aware unmanned aerial vehicle system[J]. Control and Decision, 2016, 31(4): 616-622.
3 Oh H, Kim S. Persistent standoff tracking guidance using constrained particle filter for multiple UAVs[J]. Aerospace Science and Technology,2019,84: 257-264.
4 汪亮, 王文, 王禹又,等. 强化学习方法在通信拒止战场仿真环境中多无人机目标搜寻问题上的适用性研究[J].中国科学: 信息科学, 2020, 50(3): 375-395.
Wang Liang, Wang Wen, Wang Yu-you, et al. Feasibility of reinforcement learning for UAV-based target searching in a simulated communication denied environment[J]. Scientia Sinica (Informationis), 2020, 50(3): 375-395.
5 沈东, 魏瑞轩, 祁晓明, 等. 基于MTPM和DPM的多无人机协同广域目标搜索滚动时域决策[J].自动化学报, 2014, 40(7): 1391-1403.
Shen Dong, Wei Rui-xuan, Qi Xiao-ming, et al. Receding horizon decision method based on MTPM and DPM for Multi-UAVs cooperative large area target search[J]. Acta Automatica Sinica, 2014, 40(7): 1391-1403.
6 屈耀红, 张峰, 谷任能, 等.基于距离测量的多无人机协同目标定位方法[J]. 西北工业大学学报, 2019, 37(2): 266-272.
Qu Yao-hong, Zhang Feng, Gu Ren-neng, et al. Target cooperative location method of multi-UAV based on pseudo range measurement[J]. Journal of Northwestern Polytechnical University, 2019, 37(2): 266-272.
7 Redding J D, McLain T W, Beard R W, et al.Vision-based target localization from a fixed-wing miniature air vehicle[C]∥American Control Conference, Minneapolis, MN, USA,2006: 2862-2867.
8 何文涛.无人机定位技术及其应用[J]. 光电技术应用, 2003,18(5): 3-6.
He Wen-tao. UAV Positioning technology and its application[J]. Electro-optics & Passive Countermeasures, 2003,18(5): 3-6.
9 Herekoglu O, Hasanzade M, Saldiran E, et al. Flight testing of a multiple UAV RF emission and vision based target localization method[C]∥AIAA Scitech, San Diego, USA, 2019: 1-18.
10 Henriques J F, Caseiro R, Martins P, et al. High-speed tracking with kernelized correlation filters[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2014, 37(3): 583-596.
11 刘巧元, 王玉茹, 张金玲, 等. 基于相关滤波器的视频跟踪方法研究进展[J]. 自动化学报, 2019, 45(2):265-275.
Liu Qiao-yuan, Wang Yu-ru, Zhang Jin-ling, et al. Research progress of visual tracking methods based on correlation filter[J]. Acta Automatica Sinica, 2019, 45(2):265-275.
12 孟琭, 杨旭. 目标跟踪算法综述[J]. 自动化学报, 2019, 45(7): 1244-1260.
Meng Lu, Yang Xu. A survey of object tracking algorithms[J]. Acta Automatica Sinica, 2019, 45(7): 1244-1260.
[1] Hong-yan GUO,Wen-ya YU,Jun LIU,Qi-kun DAI. Integrated moving horizon decision⁃making method for lane and speed of intelligent vehicle in complex scenarios [J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(3): 693-703.
[2] De-jun WANG,Kai-ran ZHANG,Peng XU,Tian-biao GU,Wen-ya YU. Speed planning and control under complex road conditions based on vehicle executive capability [J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(3): 643-652.
[3] De-feng HE,Dan ZHOU,Jie LUO. Efficient cooperative predictive control of predecessor⁃following vehicle platoons with guaranteed string stability [J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(3): 726-734.
[4] Guo-yuan QI,Hao CHEN. Observer⁃based control⁃anti⁃disturbance⁃obstacle avoidance of quadrotor unmanned aerial vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(3): 810-822.
[5] Hong-zhi WANG,Ting-ting WANG,Huang-shui HU,Xiao-fan LU. PID control based on BP neural network optimized by Q⁃learning for speed control of BLDCM [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 2280-2286.
[6] Jian-xin FENG,Qiang WANG,Ya-lei WANG,Biao XU. Fuzzy PID control of ultrasonic motor based on improved quantum genetic algorithm [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 1990-1996.
[7] Yan MA,Jian-fei HUANG,Hai-yan ZHAO. Method of vehicle formation control based on vehicle to vehicle communication [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 711-718.
[8] YAN Yong-yao, LIU Wei, FU Jin-jiang. Compensation for adjustment error in high positioning accuracy turntable measuring system [J]. 吉林大学学报(工学版), 2017, 47(3): 855-860.
[9] DENG Li-fei, SHI Yao-wu, ZHU Lan-xiang, YU Ding-li. Failure detection of closed-loop systems and application to SI engines [J]. 吉林大学学报(工学版), 2017, 47(2): 577-582.
[10] ZHANG Li-Bin, SU Jian, SHAN Hong-Ying, TIAN Yong-Jun, LIU Su-Chao. Error compensation method of piezoelectric detection by tire print of vehicle wheelbase difference [J]. 吉林大学学报(工学版), 2011, 41(02): 327-0332.
[11] QIN Yong, ZHAO Jie, WANG Xiao-yu . Digital magnetic compass based on ellipse
matching error compensation algorithm

 [J]. 吉林大学学报(工学版), 2009, 39(02): 489-0493.
[12] LI Xin-xin, LU Quan-guo, YANG Zhi-gang, CHENG Guang-ming, ZENG Ping. Precision linear actuator of piezoelectric based on wriggle principle [J]. 吉林大学学报(工学版), 2003, (2): 20-24.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd