28th Congress of the International Council of the Aeronautical Sciences, 23 - 28 September 2012, Brisbane, Australia
Paper ICAS 2012-11.3.2

VISION-BASED UAV GUIDANCE AND ESTIMATION FOR AERIAL TARGET TRACKING

H. Choi, Y. Kim
Seoul National Univ., Korea

Keywords: uav, target tracking, single vision sensor, nonlinear adaptive observer

This paper deals with vision-based aerial target tracking problem. For target tracking, a guidance law for nonholonomic kinematics is proposed. Adaptive observer is designed to resolve the problem of target loss in the vision range. For tracking the moving target, adaptation conditions are considered in the perspective of the kinematics.

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