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Vision-based tracking and motion estimation for moving targets using small UAVs

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4 Author(s)
Dobrokhodov, V.N. ; Mech. & Astronaut. Eng. Dept., Naval Postgraduate Sch., Monterey, CA ; Kaminer, I.I. ; Jones, K.D. ; Ghabcheloo, R.

This paper addresses the development of a vision-based target tracking system for a small unmanned air vehicle. The algorithm performs autonomous tracking of a moving target, while simultaneously estimating GPS coordinates of the target. A low cost off the shelf system is utilized, with a modified radio controlled aircraft airframe, gas engine and servos. Tracking is enabled using a low-cost, miniature pan-tilt gimbal. The control algorithm provides rapid and sustained target acquisition and tracking capability. A target position estimator was designed and shown to provide reasonable targeting accuracy. The impact of target loss events on the control and estimation algorithms is analyzed in detail

Published in:

American Control Conference, 2006

Date of Conference:

14-16 June 2006