Towards Safe Mid-Air Drone Interception: Strategies for Tracking & Capture
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00376946" target="_blank" >RIV/68407700:21230/24:00376946 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2024.3451768" target="_blank" >https://doi.org/10.1109/LRA.2024.3451768</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2024.3451768" target="_blank" >10.1109/LRA.2024.3451768</a>
Alternative languages
Result language
angličtina
Original language name
Towards Safe Mid-Air Drone Interception: Strategies for Tracking & Capture
Original language description
A unique approach for mid-air autonomous aerial interception of non-cooperating Uncrewed Aerial Vehicles (UAVs) by a flying robot equipped with a net is presented in this paper. A novel interception guidance method called Fast Response Proportional Navigation (FRPN) is proposed, designed to catch agile maneuvering targets while relying on onboard state estimation and tracking. The proposed method is compared with state-of-the-art approaches in simulations using different target trajectories of varying complexity, comprising a large amount of flight data. FRPN demonstrates the shortest response time and the highest number of interceptions, which are key parameters for agile interception. To ensure a robust transition from theory and simulation to real-world implementation, the approach avoids overfitting to specific assumptions about the target and aims to intercept a target following an unknown, general trajectory. Furthermore, the paper identifies several often overlooked problems related to tracking and estimating the target's state that can significantly affect the overall performance of the system. It proposes a novel state estimation filter based on the Interacting Multiple Model (IMM) filter and a new measurement model. Simulated experiments show that the proposed solution significantly improves estimation accuracy over commonly employed Kalman Filter approaches when dealing with general trajectories. Based on these results, the proposed filtering and guidance methods are used to implement a complete autonomous interception system, which is thoroughly evaluated in realistic simulations and tested in real-world experiments with a maneuvering target, surpassing the performance of any state-of-the-art solution.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
9
Issue of the periodical within the volume
10
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
8810-8817
UT code for WoS article
001311225900002
EID of the result in the Scopus database
2-s2.0-85202723442