UAV guidance using a monocular-vision sensor for aerial target tracking

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• 作者：Hyunjin Choi ; Youdan Kim
• 关键词：Unmanned aerial vehicle ; Target tracking ; Monocular-vision sensor ; Nonlinear adaptive observer
• 刊名：Control Engineering Practice
• 出版年：January, 2014
• 年：2014
• 卷：22
• 期：Complete
• 页码：10-19
• 全文大小：1284 K

文摘

Target tracking is difficult for a Unmanned Aerial Vehicle (UAV) equipped with a monocular-vision sensor because the sensor cannot measure the range between aerial target and UAV. Since the range between UAV and target is unobservable, the target position is also unknown. A measurement model of the vision sensor is proposed based on a specific image processing technique. A nonlinear adaptive observer is designed to estimate states and parameters, and the position of the target is estimated. A guidance law for target tracking and UAV maneuvers for persistent excitation condition are also proposed. To demonstrate the effectiveness of the proposed algorithms, numerical simulations are performed.