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Journal of Applied Mathematics
Volume 2014, Article ID 934250, 11 pages
Research Article

Mathematical Model of Movement of the Observation and Tracking Head of an Unmanned Aerial Vehicle Performing Ground Target Search and Tracking

Department of Applied Computer Science and Armament Engineering, Faculty of Mechatronics and Machine Design, Kielce University of Technology, 7 Tysiąclecia PP Street, 25-314 Kielce, Poland

Received 24 April 2014; Revised 31 July 2014; Accepted 2 August 2014; Published 8 September 2014

Academic Editor: Zheping Yan

Copyright © 2014 Izabela Krzysztofik and Zbigniew Koruba. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The paper presents the kinematics of mutual movement of an unmanned aerial vehicle (UAV) and a ground target. The controlled observation and tracking head (OTH) is a device responsible for observing the ground, searching for a ground target, and tracking it. The preprogrammed movement of the UAV on the circle with the simultaneous movement of the head axis on Archimedes’ spiral during searching for a ground target, both fixed (bunkers, rocket missiles launching positions, etc.) and movable (tanks, infantry fighting vehicles, etc.), is considered. Dynamics of OTH during the performance of the above mentioned activities is examined. Some research results are presented in a graphical form.