标题： 基于杜宾车辆的遮挡感知地面目标跟踪通过可视体积 显示英文标题

标题： Occlusion-Aware Ground Target Tracking by a Dubins Vehicle using Visibility Volumes

摘要： 本文研究了使用建模为Dubins飞行器的无人飞行器（UAV）通过可能存在遮挡兴趣点（POI）的城市环境，利用视线（LOS）传感器跟踪沿已知轨迹移动的兴趣点（POI）的问题。 一个可视性体积（VV）编码了特定POI位置感测约束的时间变化三维表示。 然后，在以POI位置为中心的动态变化的VV内绘制一个恒定高度、平移且径向时间变化的圆形 standoff 轨道。 通过沿着POI的轨迹放置静态VV来近似时间变化的VV，使用一种自适应度量方法，限制连续VV的体积变化率低于指定值。 证明了时间变化的圆形 standoff 轨道对Dubins飞行器是可行的，并在静态VV内用一组线性插值的圆形轨道近似。 推导出一个转向控制器，驱动UAV到达时间变化的standoff轨道。 数值模拟和飞行测试展示了所提出的方法。 显示英文摘要

摘要： 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.