Vision guidance controller for an Unmanned Aerial Vehicle
Watson, Mark T.
Kaminer, Isaac I.
MetadataShow full item record
The use of Unmanned Aerial Vehicles (UAVs) in modern military operations for reconnaissance and other missions continues to grow. UAV systems using remote control guidance are limited in range and subject to Electronic Warfare concerns. Guidance Systems using only Global Positioning Service (GPS) or an Inertial Navigation System (INS) are limited to a pre-programmed route of flight. A vision guidance system that can control the UAV over an arbitrary course is not subject to these limitations. This thesis uses classical control methods to develop and test an autonomous vision controller for the FOG-R UAV (FROG). First, a computer model of the camera output for a flight that tracks a river is made to develop the controller and to test it in nonlinear simulation. Finally, the complete system is flight tested on the FROG UAV. The design and test equipment include a highly modified FOG-R UAV from the U.S. Army, the MATRIXx Product Family of software tools developed by Integrated Systems, Inc., and a Ground Station built at NPS from commercially available computer and communication equipment.
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.Approved for public release, distribution unlimited
Showing items related by title, author, creator and subject.
Exploring the feasibility of the virtual environment helicopter system (VEHELO) for use as an instructional tool for military helicopter pilots Kulakowski, Walter W. (Monterey, California. Naval Postgraduate School, 2004-09);The requirement for low-level navigation flight conducted between 200 and 500 feet above ground level is something unique to the military helicopter pilot. Each novice helicopter pilot is introduced to this skill early and ...
Tavora, Bruno G.F. (Monterey, California: Naval Postgraduate School, 2017-06);Modeling and control of aerial manipulators are presented in this study. An aerial manipulator is an unmanned aerial vehicle (UAV) equipped with a robotic arm. Aerial manipulators have potential for many applications, such ...
Linear quadratic Gaussian controller design using loop transfer recovery for a flexible missile model / Fernando Jim?nez. Jimenez, Fernando. (Monterey, California. Naval Postgraduate School, 1993-12);In this thesis, a Linear Quadratic Gaussian Controller (LQG) is designed for a tail controlled surface-to-air missile model in order to meet design specifications. The mathematical model of the flexible missile is subject ...