Autonomous visual tracking of stationary targets using small unmanned aerial vehicles
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Authors
Prince, Robert A.
Subjects
Unmanned aerial vehicle
UAV
Autonomous guidance
Target tracking
Control
Visual target tracking
Range estimation
Triangulation
Kalman filter
Piccolo
xPC target
UAV
Autonomous guidance
Target tracking
Control
Visual target tracking
Range estimation
Triangulation
Kalman filter
Piccolo
xPC target
Advisors
Kaminer, Isaac I.
Date of Issue
2004-06
Date
June 2004
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
A control system was developed for autonomous visual tracking of a stationary target using a small unmanned aerial vehicle. The kinematic equations of this problem were developed, and the insight obtained from examination was applied in developing controllers for the system. This control system controlled the orientation of the camera to keep it constantly pointing at the target, and also controlled the trajectory of the aircraft in flight around the target. The initial control law that was developed drives the aircraft trajectory to a constant radius around the target. The range to the target is not directly measurable, so it was estimated using steady state Kalman filters. Once a range estimate is obtained, it is used to control the range to the target, and the aircraft trajectory is driven toward a circle with a specified radius. Initial tests of the control system with Simulink simulations have shown good performance of the control system. Further testing with hardware will be conducted, and flight tests are scheduled to be conducted in the near future. Conclusions are drawn and recommendations for further study are presented.
Type
Thesis
Description
Series/Report No
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
xviii, 71 p. : ill. (some col.)
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.