| Citation: | LI Huifeng, YI Wenfeng, CHENG Xiaominget al. Target tracking control algorithm based on approximate dynamic programming[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(3): 597-605. doi: 10.13700/j.bh.1001-5965.2018.0353(in Chinese)
|
The control algorithm for the target tracking problem cannot be well adapted to the problem of large-scale maneuver flight or even game with us. This paper proposes a control algorithm for target tracking using approximate dynamic programming. The game algorithm is used to train our UAV to form an experience. The positions of both sides are taken as known quantity and the roll direction as the control quantity. The relative positions of two objects are used to derive their features and then an approximate function is formed. The rollout algorithm is used to obtain the optimal decision, and the flexible and effective tracking of tracking targets and even gaming targets can be achieved. The simulation results verify the effectiveness of approximate dynamic programming for control algorithms.
| [1] |
卢虎川, 李佩霞, 王栋.目标跟踪算法综述[J].模式识别与人工智能, 2018, 31(1):61-76. http://d.old.wanfangdata.com.cn/Periodical/mssbyrgzn201801008
LU H C, LI P X, WANG D.Visual object tracking:A survey[J].Pattern Recognition and Artificial Intelligence, 2018, 31(1):61-76(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/mssbyrgzn201801008
|
| [2] |
CHENG Y Z. Meanshift, mode seeking, and clustering[J].IEEE Transactions on Pattern Analysis and Machine Intelligence, 1995, 17(8):790-799. doi: 10.1109/34.400568
|
| [3] |
ADAM A, RIVLIN E, SHIMSHONI I.Robust fragments-based tracking using the integral histogram[C]//Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition.Piscataway, NJ: IEEE Press, 2006: 798-805. http://www.cs.technion.ac.il/~amita/fragtrack/fragtrack_cvpr06.pdf
|
| [4] |
TURK M, PENTLAND A.Eigenfaces for recognition[J].Journal of Cognitive Neuroscience, 1991, 3(1):71-86. doi: 10.1162/jocn.1991.3.1.71
|
| [5] |
TANG M, FENG J.Multi-kernel correlation filter for visual tracking[C]//Proceedings of the IEEE International Conference on Computer Vision.Piscataway, NJ: IEEE Press, 2016: 3038-3046. https://www.cv-foundation.org/openaccess/content_iccv_2015/papers/Tang_Multi-Kernel_Correlation_Filter_ICCV_2015_paper.pdf
|
| [6] |
LI Y, ZHU J K.A scale adaptive kernel correlation filter tracker with feature integration[C]//Proceedings of the European Conference on Computer Vision.Berlin: Springer, 2014: 254-265. http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/ECCV_2014/workshops/w09/W9-07.pdf
|
| [7] |
DANELLJAN M, HGER G, KHAN F S.Accurate scale estimation for robust visual tracking[EB/OL].[2017-11-27].http://www.cvl.isy.liu.se/en/research/objrec/visualtracking/scalvistrack/index.html.
|
| [8] |
HENRIQUES J F, CASEIRO R, MARINS P, et al. High-speed tracking with kernelized correlation filters[J].IEEE Transactions on Pattern Analysis and Machine Intelligence, 2014, 37(3):583-596. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=c8f7e9e032e4e419c5c79d7a5f1f6494
|
| [9] |
LI Y, ZHU J K, HOI S C H.Reliable patch trackers: Robust visual tracking by exploiting reliable patches[C]//Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition.Piscataway, NJ: IEEE Press, 2015: 353-361. https://www.cv-foundation.org/openaccess/content_cvpr_2015/papers/Li_Reliable_Patch_Trackers_2015_CVPR_paper.pdf
|
| [10] |
MA C, HUANG J B, YANG X K, et al.Hierarchical convolutional features for visual tracking[C]//Proceedings of the IEEE International Conference on Computer Vision.Piscataway, NJ: IEEE Press, 2015: 3074-3082. https://www.cv-foundation.org/openaccess/content_iccv_2015/papers/Ma_Hierarchical_Convolutional_Features_ICCV_2015_paper.pdf
|
| [11] |
魏庆来.基于近似动态规划的非线性系统最优控制研究[D].沈阳: 东北大学, 2008: 6-8. http://cdmd.cnki.com.cn/Article/CDMD-10145-1012300362.htm
WEI Q L.Researches on optimal control of nonlinear systems based on approximate dynamic programming[D].Shenyang: Northeastern University, 2008: 6-8(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-10145-1012300362.htm
|
| [12] |
BELLMAN R.On the theory of dynamic programming[J].Proceedings of the National Academy of Sciences of the United States of America, 1952, 38(8):716-719. doi: 10.1073/pnas.38.8.716
|
| [13] |
ISAACS R.Games of pursuit[M].Santa Monica, CA:The Rand Corporation, 1951:256-257.
|
| [14] |
AUSTIN F, CARBONE G, FALCO M, et al.Game theory for automated maneuvering during air-to-air combat[J] Journal of Guidance, Control, and Dynamics, 1990, 13(6):1143-1149. doi: 10.2514/3.20590
|
| [15] |
MCGREW J S, HOW J P, WILLIAMS B, et al.Air combat strategy using approximate dynamic programming[C]//AIAA Guidance, Navigation, and Control Conference and Exhibit.Reston: AIAA, 2008: 6-13. doi: 10.2514/1.46815
|
| [16] |
ANWAR H, ZHU Q Y.Minimax game-theoretic approach to multiscale H-infinity optimal filtering[C]//2017 IEEE Global Conference on Signal and Information Processing(GlobalSIP).Piscataway, NJ: IEEE Press, 2017: 853-857. https://nyuscholars.nyu.edu/en/publications/minimax-game-theoretic-approach-to-multiscale-h-infinity-optimal-
|
| [17] |
SPRINKLE J, EKLUND J, KIM H, et al.Encoding aerial pursuit/evasion games with fixed wing aircraft into a nonlinear model predictive tracking controller[C]//Proceedings of 200443rd IEEE Conference on Decision and Control(CDC).Piscataway, NJ: IEEE Press, 2004: 2609-2614. https://www.researchgate.net/publication/4142744_Encoding_aerial_pursuitevasion_games_with_fixed_wing_aircraft_into_a_nonlinear_model_predictive_nacking_controller
|
| [18] |
EKLUND J, SPRINKLE J, KIM H, et al.Implementing and testing a nonlinear model predictive tracking controller for aerial pursuit/evasion games on a fixed wing aircraft[C]//Proceedings of 2005 American Control Conference.Piscataway, NJ: IEEE Press, 2005: 1509-1514. https://people.eecs.berkeley.edu/~sastry/pubs/PDFs%20of%20Pubs2000-2005/Publications%20of%20Postdocs/Eklund/Eklund.ImplementingTesting%202005.pdf
|
| [19] |
SHAW R.Fighter combat tactics and maneuvering[M].Annapolis:Naval Institute Press, 1985:12-15.
|
| [20] |
POWELLW B.Approximate dynamic programming solving the curses of dimensionality[M].2nd ed.Hoboken:John Wiley & Sons, Inc., 2011:305-307.
|
Figures(20) / Tables(5)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
