Target Localization Using Cooperative Unmanned Aerial Vehicles

Ali Pirshayan, Hadi Seyedarabi, Siamak Haghipour


Unmanned aerial vehicles (UAVs) are ideal platforms for remote sensing due to their point of view and freedom of movement. This paper introduces the cooperative localization of the interested target using four quad-rotors UAVs equipped with stereo vision systems. The system contains a vision-based algorithms for the detection and identification of the target on the video stream. An algorithm based on Kalman filter used to estimate the position of the target, in addition a method offered based on Kalman filter. This method applied to fusion of each UAV’s estimation together. Simulation results compared with non-cooperative and Two UAV cooperative systems. Results indicates that four UAV cooperative systems perform more accurate estimation of the target location.


Unmanned Aerial Vehicles; Kalman Filter; Data Fusion; Vision-Based localization; Cooperative

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