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The problem of autonomous tracking a ground moving target using one single unmanned aerial vehicle is studied. An integrated tracking algorithm is proposed and it consists of a vision-based estimator and a Lyapunov vector field-based guidance law. The tracking trajectory converges to a circular orbit loitering around the target of arbitrary motion. Further, the proposed estimator ensures continuous tracking mission in presence of the loss-of-tracking events. The performance of the proposed tracking algorithm is demonstrated through computer simulations.