A strategy for tracking a ground target with a UAV

Theodorakopoulos, Panagiotis; Lacroix, Simon

doi:10.1109/iros.2008.4650939

Cited by 31 publications

(16 citation statements)

References 11 publications

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“…This tracking problem has been tackled in different ways. For instance, while some authors use predefined pieces of trajectories called patterns that depend on the difference of velocity between the target and the UAV [30,34] some others prefer to use some simple algorithm based on tangent vector or lateral guidance laws [39,47] in order to compute in real time the desired path for the UAV. Some authors consider that the tracking problem can be modeled by a predator-prey model which gives waypoints to be interpolated by the UAV [4].…”

Section: Tracking a Moving Targetmentioning

confidence: 99%

Lyapunov and Minimum-Time Path Planning for Drones

et al. 2014

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In this paper, we study the problem of controlling an unmanned aerial vehicle (UAV) to provide a target supervision and/or to provide convoy protection to ground vehicles.We first present a control strategy based upon a Lyapunov-LaSalle stabilization method to provide supervision of a stationary target. The UAV is expected to join a pre-designed admissible circular trajectory around the target which is itself a fixed point in the space.Our strategy is presented for both HALE (High Altitude Long Endurance) and MALE (Medium Altitude Long Endurance) types UAVs. A UAV flying at a constant altitude (HALE type) is modeled as a Dubins vehicle (i.e. a planar vehicle with constrained turning radius and constant forward velocity). For a UAV that might change its altitude (MALE type), we use the general kinematic model of a rigid body evolving in R 3 . Both control strategies presented are smooth and unlike what is usually proposed in the literature these strategies asymptotically track a circular trajectory of exact minimum turning radius.We also present the time-optimal control synthesis for tracking a circle by a Dubins vehicle. This optimal strategy, although much simpler than the point-to-point time-optimal strategy obtained by P. Souères and J.-P. Laumond in the 1990s (see [45]), is very rich.Finally, we propose control strategies to provide supervision of a moving target, that are based upon the previous ones.

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Section: Tracking a Moving Targetmentioning

confidence: 99%

Lyapunov and Minimum-Time Path Planning for Drones

et al. 2014

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“…Broadly speaking, this work can be split into two categories, one that is concerned with following a target from a distance of 10-100m and another from close range. Tracking ground vehicles from a distance has applications such as surveillance and has been considered by many, including [8], [9] and [10]. At these distances the UAV control often falls into the category of guidance.…”

Section: Introductionmentioning

confidence: 99%

Tracking control of a UAV with a parallel visual processor

Greatwood

Bose

Richardson

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…It can be classified into two categories: position-based visual servo (PBVS) control and image-based visual servo (IBVS) control [5]. With PBVS control, the relative position of the target with respect to the vehicle is estimated using tools like the Extended Kalman Filter [6][7][8]. Then the estimated relative position is used for feedback variables.…”

Section: Introductionmentioning

confidence: 99%

Vision-based Guidance for Loitering over a Target

Park¹

2016

International Journal of Aeronautical and Space Sciences

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This paper presents a vision-based guidance method that allows a fixed-wing aircraft to orbit around a target at a given radius. The guidance method uses a simple formula that regulates a relative side-bearing angle estimated by a vision system. The global asymptotic stability of the associated guidance law is demonstrated, and a linear analysis is performed to facilitate the proper selection of the relevant control parameters. A flight experiment is presented to demonstrate the feasibility and performance of the proposed guidance method.

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A strategy for tracking a ground target with a UAV

Cited by 31 publications

References 11 publications

Lyapunov and Minimum-Time Path Planning for Drones

Lyapunov and Minimum-Time Path Planning for Drones

Tracking control of a UAV with a parallel visual processor

Vision-based Guidance for Loitering over a Target

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