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 proceedingConference 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 languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages2505-2510
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA
Period12/15/1012/17/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    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). [5718149] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2010.5718149