Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control

doi:10.1007/s12204-021-2283-7

J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (4): 446-453.doi: 10.1007/s12204-021-2283-7

Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control

ZHANG Lulu (章露露), DONG Xiangxiang (董祥祥), YAO Lixiu (姚莉秀), CAI Yunze * (蔡云泽)

(a. Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education; b. Department of Automation;
c. Key Laboratory of System Control and Information Processing of Ministry of Education,
Shanghai Jiao Tong University, Shanghai 200240, China)

出版日期:2021-08-28 发布日期:2021-06-06
通讯作者: CAI Yunze * (蔡云泽) E-mail: yzcai@sjtu.edu.cn

Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control

ZHANG Lulu (章露露), DONG Xiangxiang (董祥祥), YAO Lixiu (姚莉秀), CAI Yunze * (蔡云泽)

(a. Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education; b. Department of Automation;
c. Key Laboratory of System Control and Information Processing of Ministry of Education,
Shanghai Jiao Tong University, Shanghai 200240, China)

Online:2021-08-28 Published:2021-06-06
Contact: CAI Yunze * (蔡云泽) E-mail: yzcai@sjtu.edu.cn

摘要/Abstract

摘要： Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.

关键词: mobile sensor network, velocity-varying target tracking, flocking control, Kalman-consensus filtering

Abstract: Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.

Key words: mobile sensor network, velocity-varying target tracking, flocking control, Kalman-consensus filtering

中图分类号:

TP 273

ZHANG Lulu (章露露), DONG Xiangxiang (董祥祥), YAO Lixiu (姚莉秀), CAI Yunze (蔡云泽). Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 446-453.

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Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control

Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control

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