Autonomous Feature Following for Visual Surveillance Using a Small Unmanned Aerial Vehicle with Gimbaled Camera System
MetadataShow full item record
This paper represents the development of feature following control and distributed navigation algorithms for visual surveillance using a small unmanned aerial vehicle equipped with a low-cost imaging sensor unit. An efficient map-based feature generation and following control algorithm is developed to make an onboard imaging sensor to track a target. An efficient navigation system is also designed for real-time position and velocity estimates of the unmanned aircraft, which is used as inputs for the path following controller. The performance of the proposed autonomous path following capability with a stabilized gimbaled camera onboard a small unmanned aerial robot is demonstrated through flight tests with application to target tracking for real-time visual surveillance.
The article of record as published may be located at http://dx.doi.org/10.1007/s12555-010-0504-1
Showing items related by title, author, creator and subject.
An analysis of the acquisition process of the Joint Fires Network/Tactical Exploitation System-Navy Leyland, Patricia E. (Monterey, California. Naval Postgraduate School, 2003-06);There is a growing movement throughout the Department of Defense (DoD) towards the implementation of Network Centric Warfare (NCW). In an effort to transition to NCW, the Navy has fielded many different technologies. One ...
Chang, C.-P (Chih-Pei); Williams, Roger Terry (Monterey, California. Naval Postgraduate School, 1978-03); NPS-63CJ78031This research may be divided into the following three parts: a) waves forced by condensation heating in the troposphere, b) the local barotropic instability produced by a spatially varying basic flow, c) the numerical modeling ...
Coordinated Path Following for Time-Critical Missions of Multiple UAVs via L1 Adaptive Output Feedback Controllers Kaminer, I.; Yakimenko, O.; Dobrokhodov, V.; Pascoal, A.; Hovakimyan, N.; Cao, C.; Young, A.; Patel, V. (American Institute of Aeronautics and Astronautics, Inc., 2007-08);This paper develops a complete framework for coordinated control of multiple unmanned air vehicles (UAVs) that are tasked to execute collision-free maneuvers under strict spatial and temporal constraints in restricted ...