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.


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    Title :

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


    Contributors:
    Choi, Hyunjin (author) / Kim, Youdan (author)

    Published in:

    Publication date :

    2014


    Size :

    10 Seiten, 24 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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