基于Voronoi图和地面无人平台最优观测的目标跟踪研究

Research on target tracking based on voronoi diagram and optimal observation of unmanned ground vehicles

针对带防守区域约束的多地面无人平台(UGV)协同跟踪单目标问题,提出了基于多UGV最佳观测位置的目标跟踪算法。首先在无约束情况下,研究基于梯度法的UGV观测位置调整,然后添加约束条件,利用Voronoi图的相关特性,研究在UGV各自防守区域及速度等约束条件下的UGV观测位置优化问题,通过最小化数据融合后的协方差矩阵行列式,从而调整UGV的观测位置,来获得更好的跟踪质量。仿真结果表明了算法的有效性和合理性。

For the problem of multiple unmanned ground vehicles（UGVs） with defense area constraints collaboratively tracking a single target, a target tracking algorithm is proposed based on the optimal observation position of UGVs. Firstly, in the unconstrained case the observation position adjustment of UGVs based on the gradient method is researched. Then the observation position optimization problem of UGVs with the constraints of UGV＇s defensive area and velocity is addressed using the characteristics of Voronoi diagram. The UGVs can adjust the observation position by minimizing the determinant of the fused covariance matrix and get better tracking quality. The simulation results showed the validity and rationality of the algorithm.