Title :
Comparison of lateral controllers for following linear structures using computer vision
Author_Institution :
Dept. of Aerosp. Eng. Sci., Colorado Univ., Boulder, CO
Abstract :
This paper presents a comparison of lateral controllers for vision-based control of a small autonomous aircraft following a road. Control strategies are designed to stabilize the aircraft lateral control using only the vision measurements and inertial sensors. Methods compared here include several aim-ahead controllers, sliding surface controllers, linear quadratic Gaussian (LQG) regulators, and a receding horizon controller (RHC). Simulation results are given comparing the controllers under ideal conditions as well as with background wind, a zero-roll assumption in the vision system, and realistic quantization of the control output by the low-level flight control system
Keywords :
aerospace robotics; aircraft control; computer vision; inertial navigation; infinite horizon; linear quadratic Gaussian control; mobile robots; stability; variable structure systems; aim-ahead controllers; aircraft lateral control stabilization; background wind; computer vision; control output quantization; inertial sensors; linear quadratic Gaussian regulators; linear structures; low-level flight control system; receding horizon controller; sliding surface controllers; small autonomous aircraft; vision measurement; vision-based control; zero-roll assumption; Aerospace control; Aircraft propulsion; Automatic control; Computer vision; Control systems; Machine vision; Regulators; Roads; Unmanned aerial vehicles; Visual servoing;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1656538
