Vision Assisted Autonomous Path Following for Unmanned Aerial Vehicles

Author

Chitrakaran, Vilas K. ; Dawson, Darren M. ; Kannan, Hariprasad ; Feemster, Matthew

Author_Institution

Clemson Univ., SC

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

63

Lastpage

68

Abstract

This paper presents the design of a vision-based controller for an underactuated, unmanned aerial vehicle (UAV) equipped with a pan-tilt camera unit (PTCU) to achieve the objective of following a leader vehicle autonomously. The relative position and orientation information is obtained from the monocular camera utilizing homography-based techniques. The proposed controller, built upon Lyapunov design methods, achieves uniform ultimate bounded (UUB) tracking

Keywords

Lyapunov methods; aircraft control; computer vision; control engineering computing; control system synthesis; remotely operated vehicles; tracking; Lyapunov design method; homography-based technique; monocular camera; pan-tilt camera unit; uniform ultimate bounded tracking; unmanned aerial vehicles; vision assisted autonomous path following; Cameras; Control design; Helicopters; Matrix decomposition; Mobile robots; Radio control; Remotely operated vehicles; Trajectory; Unmanned aerial vehicles; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377305

Filename

4177437