Visual tracking of a maneuvering target

Vahram Stepanyan, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an acceleration command generation and its implementation for an aerial vehicle in the problem of visual target tracking, when the target is free to make any maneuver with arbitrary, but otherwise bounded acceleration. The acceleration command is generated by an adaptive disturbance rejection control algorithm that uses only visual information about the target, obtained by a monocular camera mounted on the aerial vehicle, This information consists of the maximal image size in pixels and the pixel coordinates of the image centroid in the image plane. The acceleration command is translated into forward velocity command and attitude angle commands, which are afterwards used to obtain actual control surface deflections for the aerial vehicle.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages4973-4999
Number of pages27
ISBN (Print)1563478196, 9781563478192
DOIs
StatePublished - 2006
Externally publishedYes
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Volume8

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Stepanyan, V., & Hovakimyan, N. (2006). Visual tracking of a maneuvering target. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006 (pp. 4973-4999). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006; Vol. 8). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2006-6717