Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
699712 | Control Engineering Practice | 2014 | 10 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Aerospace Engineering
Authors
Hyunjin Choi, Youdan Kim,