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Vision-based tracking and estimation of ground moving target using unmanned aerial vehicle

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2 Author(s)
Mingfeng Zhang ; Inst. for Aerosp. Studies, Univ. of Toronto, Toronto, ON, Canada ; Liu, H.H.T.

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.

Published in:

American Control Conference (ACC), 2010

Date of Conference:

June 30 2010-July 2 2010