Vision-based target tracking and motion estimation using a small UAV

Zhiyuan Li; Naira Hovakimyan; Vladimir Dobrokhodov; Isaac Kaminer

doi:10.1109/CDC.2010.5718149

Vision-based target tracking and motion estimation using a small UAV

Zhiyuan Li, Naira Hovakimyan, Vladimir Dobrokhodov, Isaac Kaminer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This work extends the earlier results on passive vision-based tracking and motion estimation of a ground vehicle. The follower small unmanned air vehicle (UAV) is equipped with a single gimbaled pan/tilt camera and a high bandwidth wireless link for video and command transmitting. The objective is for the UAV to maintain a horizontal circular orbit about the target with a predefined radius and to concurrently provide real-time estimation of the target's position, speed and heading. The target velocity estimation problem is formulated such that the recently developed L₁ fast adaptive estimator can be applied. We give a rigorous proof of asymptotic stability for the guidance law for the static target case, and provide a reformulation of the control objective for the moving target case so that the existing controller can be applied naturally.

Original language	English (US)
Title of host publication	2010 49th IEEE Conference on Decision and Control, CDC 2010
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2505-2510
Number of pages	6
ISBN (Print)	9781424477456
DOIs	https://doi.org/10.1109/CDC.2010.5718149
State	Published - 2010
Event	49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States Duration: Dec 15 2010 → Dec 17 2010

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	49th IEEE Conference on Decision and Control, CDC 2010
Country/Territory	United States
City	Atlanta
Period	12/15/10 → 12/17/10

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2010.5718149

Library availability

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Li, Z., Hovakimyan, N., Dobrokhodov, V., & Kaminer, I. (2010). Vision-based target tracking and motion estimation using a small UAV. In 2010 49th IEEE Conference on Decision and Control, CDC 2010 (pp. 2505-2510). Article 5718149 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2010.5718149

Vision-based target tracking and motion estimation using a small UAV. / Li, Zhiyuan; Hovakimyan, Naira; Dobrokhodov, Vladimir et al.
2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. p. 2505-2510 5718149 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Li, Z, Hovakimyan, N, Dobrokhodov, V & Kaminer, I 2010, Vision-based target tracking and motion estimation using a small UAV. in 2010 49th IEEE Conference on Decision and Control, CDC 2010., 5718149, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2505-2510, 49th IEEE Conference on Decision and Control, CDC 2010, Atlanta, United States, 12/15/10. https://doi.org/10.1109/CDC.2010.5718149

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Vision-based target tracking and motion estimation using a small UAV

Abstract

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