This paper presents an original guidance system able to confer a tactical behavior to multi-rotor unmanned aerial vehicles (UAVs), such as quadcopters, that operate in potentially hostile, unknown, cluttered environments. By applying this guidance system, UAVs complete the assigned tasks, such as reaching a goal set, while minimizing both their exposure to opponents, whose location is unknown, and the predictability of their trajectories. A taxonomy of flight behaviors is provided to help users tuning those parameters that characterize the UAV’s level of cautiousness. This guidance system is supported by an original navigation system that exploits exclusively information gathered by onboard cameras and inertial measurement units. Numerical simulations and flight tests validate the applicability of the proposed guidance system in real-time, while performing all calculations aboard the UAV.

本文介绍了一种原始制导系统，能够为在潜在敌对、未知、杂乱环境中运行的多旋翼无人机 (UAV)（例如四轴飞行器）赋予战术行为。通过应用该制导系统，无人机可以完成指定的任务，例如达到设定的目标，同时最大限度地减少与位置未知的对手的接触以及轨迹的可预测性。提供了飞行行为分类法，以帮助用户调整表征无人机谨慎程度的参数。该制导系统由原始导航系统提供支持，该系统专门利用机载摄像头和惯性测量单元收集的信息。数值模拟和飞行试验实时验证了所提出的制导系统的适用性，