Uncrewed Aerial Vehicle Tracking Control Based on Eagle Vision and Evolution Theory

The tracking problem of an uncrewed surface vehicle (USV) by an uncrewed aerial vehicle (UAV) in a noncooperative scenario is investigated in the article. To achieve precise positioning of the USV by the UAV, a relative navigation method inspired by eagle vision is proposed. The target detection network modeled after the structure and mechanism of eagle vision enables accurate detection of the USV, and the relative position between the UAV and the USV is calculated based on the camera imaging principle. Furthermore, a prescribed performance evolution controller is designed, where the performance function is utilized to constrain the relative position between the UAV and the USV to converge along an evolution path, ultimately achieving precise tracking. Both simulations and experiments demonstrate the effectiveness of the proposed method.