Vision-based target tracking with a small UAV: Optimization-based control strategies

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 optimizationbased 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.

Brain Computer Interface system based on indoor semi-autonomous navigation and motor imagery for Unmanned Aerial Vehicle control

“…UAVs are highly suitable when aerial operations are required, and the presence of a pilot is dangerous, impossible, or simply expensive (Sinopoli, Micheli, Donato, & Koo, 2001). This pertains to a wide range of applications, including search and rescue (Varela et al, 2014), aerial mapping (Mesas-Carrascosa, Notario-García, de Larriva, de la Orden, & Porras, 2014), target tracking (Quintero & Hespanha, 2014), flight formation autonomously (Tuna, Nefzi, & Conte, 2014), avoid obstacle automatically (Moon & Prasad, 2011) and disaster recovery (Tuna et al, 2014).…”

Flocking with fixed-wing UAVs for distributed sensing: A stochastic optimal control approach

“…Thus, the control policy for the leader was obtained by solving (offline) a stochastic optimal control problem for a cost function that penalizes the distance from a stochastic target and extreme gimbal angles. This control approach is detailed and compared with an alternative game theoretic control approach in a paper under preparation that includes further details and field test results [16].…”

Combined of Lyapunov-stable and active disturbance rejection control for the path following of a small unmanned aerial vehicle

“…The small fixed-wing UAVs have been applied in the polar environment observation, 1,2 monitoring moving objects, 3 testing the new control strategies, 4,5 and many other domains. In terms of advanced control technologies, path planning, 2,3,6 cooperative control, 6,7 and obstacle avoidance 8 have been designed, tested, and applied in fixedwing UAVs in recent years.…”