Title:
Approaches to Vision-Based Formation Control
Approaches to Vision-Based Formation Control
Authors
Johnson, Eric N.
Calise, Anthony J.
Sattigeri, Ramachandra J.
Watanabe, Yoko
Madyastha, Venkatesh
Calise, Anthony J.
Sattigeri, Ramachandra J.
Watanabe, Yoko
Madyastha, Venkatesh
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Abstract
This paper implements several methods for
performing vision-based formation flight control of multiple
aircraft in the presence of obstacles. No information is
communicated between aircraft, and only passive 2-D vision
information is available to maintain formation. The methods
for formation control rely either on estimating the range from
2-D vision information by using Extended Kalman Filters or
directly regulating the size of the image subtended by a leader
aircraft on the image plane. When the image size is not a
reliable measurement, especially at large ranges, we consider
the use of bearing-only information. In this case, observability
with respect to the relative distance between vehicles is
accomplished by the design of a time-dependent formation
geometry. To improve the robustness of the estimation process
with respect to unknown leader aircraft acceleration, we
augment the EKF with an adaptive neural network. 2-D and
3-D 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
2004-12
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Proceedings