Vision-Based Tracking for Unmanned Aerial Vehicles

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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA463641

Entities

People

  • Darren M. Dawson
  • Hariprasad Kannan
  • M. Feemster
  • Vilas K. Chitrakaran

Organizations

  • Clemson University

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Aircrafts
  • Airframes
  • Computer Vision
  • Control Systems
  • Fixed Wing Aircraft
  • Helicopters
  • Robots
  • Systems Engineering
  • Three Dimensional
  • Two Dimensional
  • Unmanned
  • Unmanned Aerial Vehicles
  • Vehicles
  • Visual Servoing

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control