固定翼UAVによる移動目標の自律追跡と終端誘導
Autonomous Tracking and Terminal Guidance of Moving Targets for Fixed-Wing UAVs
固定翼UAVに搭載したパン・チルトカメラを用いて、目標検出から終端迎撃までの一連のミッションを実現する統合制御フレームワークを提案した。UKFによる状態推定とCBFを組み込んだNMPC追跡、さらにクォータニオン型BPNGによる終端誘導を特徴とする。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Wei-Hao Liou, Teng-Hu Cheng
分類: cs.RO, cs.AI, cs.SY, eess.SY
原文アブストラクト
This study introduces a unified control framework for fixed-wing unmanned aerial vehicles (UAVs) fitted with a pan-tilt (PT) camera, intended to perform an end-to-end mission spanning from initial target detection to accurate terminal engagement. The proposed system employs a three-phase strategy: a vision-based target acquisition phase, an NMPC-based tracking phase, and a terminal guidance phase. During tracking, the framework uses an Unscented Kalman Filter (UKF) to fuse YOLO-based visual detections with inertial measurements, enabling robust target state estimation under unknown dynamics. To ensure reliable visual contact, we introduce a constraint-aware Nonlinear Model Predictive Control (NMPC) strategy that incorporates Control Barrier Functions (CBFs) to explicitly prevent UAV self-occlusion -- a common limitation in fixed-wing tracking. Upon satisfying terminal engagement conditions, the system seamlessly transitions control to a quaternion-based Biased Proportional Navigation Guidance (BPNG) law, enforcing precise impact angle constraints. High-fidelity simulations demonstrate that the framework achieves stable, robust tracking and accurate terminal interception while strictly respecting the vehicle's dynamic limits and camera field-of-view constraints.
