关键词: 固定翼无人机, 随机动态, 随机优化控制, 门特卡罗样本, 瞬时视场角

Abstract: Most existing methods of ground target tracking with fixed-wing Unmanned Aerial Vehicle （UAV） require one or more restrictive assumptions, which limit the practical application, for this issue, a tracking method using a UAV based on fourth order kinetics modeling and stochastic optimal control is proposed. Firstly, fourth order kinetic equation is used to model UAV stochastic dynamic and target initialization. Then, an appropriate state transition probability function helps UAV to draw Monte Carlo sample for each rolling movement. Finally, the stochastic optimal control feedback is determined by solving stochastic optimal control problem. Simulation results verify this approach effectiveness in practical applications in comparison with other excellent methods, UAV elevation of proposed method has never exceeded the range of view angle field （－152° to 32°）, and the target never escapes out sight of UAV, and other methods can make targets flee sight of UAV once or twice. In addition, the proposed method can tolerate a maximum steady wind at the speed of 6 m/s, which is higher than that of other methods.

Key words: fixed-wing unmanned aerial vehicle, stochastic dynamic, stochastic optimal control, Monte Carlo sample, field of view