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dc.contributor.authorDobrokhodov, Vladimir N.
dc.contributor.authorKaminer, Isaac I.
dc.contributor.authorJones, Kevin D.
dc.contributor.authorGhabchelo, Reza
dc.date.accessioned2015-07-02T21:20:44Z
dc.date.available2015-07-02T21:20:44Z
dc.date.issued2011-01
dc.identifier.citationConference: Decision and Control (CDC), 2010 49th IEEE Conference, Conference Paper, January 2011en_US
dc.identifier.urihttp://hdl.handle.net/10945/45503
dc.descriptionThe article of record as published may be located at http://dx.doi.org/10.1109/CDC.2010.5718149en_US
dc.description.abstractThis paper addresses the development of a vision-based target tracking system for a small unmanned air vehicle. The algorithm performs autonomous tracking of a moving target, while simultaneously estimating GPS coordinates, speed and heading of the target. Tight real-time integration of UAV’s video and telemetry data-streams with geo-referenced database allows for reliable target identification, increased precision and shortened time of target motion estimation. A low cost off the shelf system is utilized, with a modified radio controlled aircraft airframe, gas engine and servos. Tracking is enabled using a low-cost, miniature pan-tilt gimbal. The control algorithm provides rapid target acquisition and tracking capability. A target motion estimator was designed and shown in multiple flight tests to provide reasonable targeting accuracy. The impact of tracking loss events on the control and estimation algorithms is analyzed in detail.en_US
dc.rightsThis 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.en_US
dc.titleVision-Based Tracking and Motion Estimation for Moving Targets Using Small UAVsen_US
dc.typeArticleen_US
dc.contributor.departmentMechanical and Astronautical Engineeringen_US
dc.description.funderThis work was supported by the U.S. Government through funding from USSOCOM.en_US


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