Title:
Estimation and Guidance Strategies for Vision-based Target Tracking
Estimation and Guidance Strategies for Vision-based Target Tracking
Author(s)
Calise, Anthony J.
Johnson, Eric N.
Sattigeri, Ramachandra J.
Watanabe, Yoko
Madyastha, Venkatesh
Johnson, Eric N.
Sattigeri, Ramachandra J.
Watanabe, Yoko
Madyastha, Venkatesh
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Abstract
This paper discusses estimation and guidance
strategies for vision-based target tracking. Specific
applications include formation control of multiple unmanned
aerial vehicles (UAVs) and air-to-air refueling. We assume
that no information is communicated between the aircraft,
and only passive 2-D vision information is available to
maintain formation. To improve the robustness of the
estimation process with respect to unknown target aircraft
acceleration, the nonlinear estimator (EKF) is augmented with
an adaptive neural network (NN). The guidance strategy
involves augmenting the inverting solution of nonlinear line-of-sight (LOS) range kinematics with the output of an
adaptive NN to compensate for target aircraft LOS velocity.
Simulation results are presented that illustrate the various
approaches.
Sponsor
This work was supported in part by AFOSR MURI #F49620-03-1-
0401: Active Vision Control Systems for Complex Adversarial 3-D
Environments.
Date Issued
2005-06
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Text
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Proceedings