METHOD AND SYSTEM FOR AUTONOMOUS TRACKING OF A MOBILE TARGET BY AN UNMANNED AERIAL VEHICLE
First Claim
1. A method for autonomous tracking of a mobile ground target by an unmanned aerial vehicle, comprising:
- tracking the mobile ground target by using a ground vehicle model with an unmanned aerial vehicle model, with velocity and acceleration constraints; and
monitoring a position and path of the mobile ground target through input from one or more sensors on the unmanned aerial vehicle, the sensors having at least one field-of-view sensing cone over the ground.
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Abstract
A method and system for autonomous tracking of a mobile target such as a ground vehicle by an unmanned aerial vehicle are provided. The method and system utilize an approach that tracks a mobile ground target by using a ground vehicle model with an ummanned aerial vehicle model, with velocity and acceleration constraints. These real-world constraints ensure that the method is applicable to a general class of unmanned aerial vehicles and ground targets. One or more sensors are employed on the unmanned aerial vehicle, with the sensors having at least one field-of-view sensing cone over the ground. A position and path of the mobile target are monitored through input from the sensors on the unmanned aerial vehicle. The method and system detect and estimate the position and path of the mobile target when the target is inside the field-of-view sensing cone.
72 Citations
20 Claims
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1. A method for autonomous tracking of a mobile ground target by an unmanned aerial vehicle, comprising:
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tracking the mobile ground target by using a ground vehicle model with an unmanned aerial vehicle model, with velocity and acceleration constraints; and
monitoring a position and path of the mobile ground target through input from one or more sensors on the unmanned aerial vehicle, the sensors having at least one field-of-view sensing cone over the ground. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for autonomous tracking of a mobile ground target by an unmanned aerial vehicle, comprising:
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means for tracking the mobile ground target by using a ground vehicle model with an unmanned aerial vehicle model, with velocity and acceleration constraints; and
one or more sensors on the unmanned aerial vehicle that have at least one field-of-view sensing cone over the ground;
wherein detection of a position and path of the mobile ground target depends upon the mobile target being inside of the field-of-view sensing cone. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A computer readable medium having instructions stored thereon for a method for autonomous tracking of a mobile ground target by an unmanned aerial vehicle, the method comprising:
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tracking the mobile ground target by using a ground vehicle model with an unmanned aerial vehicle model, with velocity and acceleration constraints; and
monitoring a position and path of the mobile ground target through input from one or more sensors on the unmanned aerial vehicle. - View Dependent Claims (19, 20)
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Specification