Accession Number:

ADA463641

Title:

Vision-Based Tracking for Unmanned Aerial Vehicles

Descriptive Note:

Technical rept.

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Report Date:

2006-01-01

Pagination or Media Count:

16.0

Abstract:

This paper presents the design of a vision-based controller for an underactuated, unmanned aerial vehicle UAV equipped with a pan-tilt camera unit PTCU to achieve the objective of following a leader vehicle autonomously. The relative position and orientation information is obtained from the monocular camera utilizing homography-based techniques. The proposed controller, built upon Lyapunov design methods, achieves uniform ultimate bounded UUB tracking. As an extension, it is also demonstrated that the approach used in the development of the control strategy for the leaderfollower problem can be applied, with a few modifications, to the problem of trajectory tracking, where the desired trajectory is described as a sequence of images taken, for example, by the on-board camera during a previous flight.

Subject Categories:

  • Pilotless Aircraft
  • Optical Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE