Vision-based target tracking with a small UAV: Optimization-based control strategies |
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| Affiliation: | 1. Department of Computer Sciences and Numeric Analysis, University of Córdoba, Campus de Rabanales, 14071 Córdoba, Spain;2. Department of Computer Sciences and Automatic Control, UNED, Juan del Rosal 16, 28040 Madrid, Spain;1. School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China;2. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China;1. Department of Electrical and Computer Engineering, University of Western Ontario, London, Ontario, Canada;2. Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada |
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| Abstract: | This paper considers the problem of a small, fixed-wing UAV equipped with a gimbaled camera autonomously tracking an unpredictable moving ground vehicle. Thus, the UAV must maintain close proximity to the ground target and simultaneously keep the target in its camera?s visibility region. To achieve this objective robustly, two novel optimization-based control strategies are developed. The first assumes an evasive target motion while the second assumes a stochastic target motion. The resulting optimal control policies have been successfully flight tested, thereby demonstrating the efficacy of both approaches in a real-world implementation and highlighting the advantages of one approach over the other. |
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| Keywords: | Unmanned aerial vehicle Target tracking Motion planning Autonomous vehicle |
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