无人机在城市环境中追踪移动目标，自动避开遮挡并保持安全观测距离。
Occlusion-Aware Ground Target Tracking by a Dubins Vehicle using Visibility Volumes
- 用动态可视体积建模遮挡约束，指导飞行路径规划。
- 设计可变半径环形绕飞轨道，确保持续视线覆盖目标。
- 适合复杂城市环境下的无人机自主跟踪任务。
本文研究了在可能存在遮挡的城市环境中，使用具有视距传感器的无人飞行器（UAV）以杜宾斯车辆模型追踪地面上沿已知轨迹移动的目标点（POI）的问题。通过构建随时间变化的三维可视体积（VV），表征特定目标位置的感知约束。在目标位置中心，设计一种恒定高度、平移且径向时变的圆形安全绕飞轨道，并将其嵌入动态变化的可视体积中。为简化计算，采用自适应度量将时变可视体积近似为沿目标轨迹分布的静态可视体积，且相邻体积的变化率低于设定阈值。进一步将时变绕飞轨道近似为在静态可视体积内分段线性插值的圆弧轨道，并推导出引导无人机驶向该动态轨道的航向控制律。数值仿真与飞行实验验证了所提方法的有效性。
原文摘要 · Abstract (English)
This paper considers the problem of tracking a point of interest (POI) moving along a known trajectory on the ground with an uncrewed aerial vehicle (UAV) modeled as a Dubins vehicle using a line-of-sight (LOS) sensor through an urban environment that may occlude the POI. A visibility volume (VV) encodes a time-varying, three-dimensional representation of the sensing constraints for a particular POI position. A constant-altitude, translating, and radially time-varying circular standoff orbit is then inscribed within the dynamically changing VV centered at the POI position. The time-varying VV is approximated by placing static VVs along the POI's trajectory using an adaptive metric that restricts the volume change of consecutive VVs to below a specified rate. The time-varying circular standoff orbit is proven to be feasible for a Dubins vehicle and approximated with a piecewise set of linearly interpolated circular orbits inside the static VVs. A steering controller is derived that drives the UAV to the time-varying standoff orbit. Numerical simulations and a flight test illustrate the proposed approach.
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