Estimation and tracking of a moving target by unmanned aerial vehicles

Jun Ming Li, Ching Wen Chen, Teng-Hu Cheng

研究成果: Conference contribution同行評審

2 引文 斯高帕斯(Scopus)

摘要

An image-based control strategy along with estimation of target motion is developed to track dynamic targets without motion constraints. To the best of our knowledge, this is the first work that utilizes a bounding box as image features for tracking control and estimation of dynamic target without motion constraint. The features generated from a You-Only-Look-Once (YOLO) deep neural network can relax the assumption of continuous availability of the feature points in most literature and minimize the gap for applications. The challenges are that the motion pattern of the target is unknown and modeling its dynamics is infeasible. To resolve these issues, the dynamics of the target is modeled by a constant-velocity model and is employed as a process model in the Unscented Kalman Filter (UKF), but process noise is uncertain and sensitive to system instability. To ensure convergence of the estimate error, the noise covariance matrix is estimated according to history data within a moving window. The estimated motion from the UKF is implemented as a feedforward term in the developed controller, so that tracking performance is enhanced. Simulations are demonstrated to verify the efficacy of the developed estimator and controller.

原文English
主出版物標題2019 American Control Conference, ACC 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面3944-3949
頁數6
ISBN(電子)9781538679265
DOIs
出版狀態Published - 1 七月 2019
事件2019 American Control Conference, ACC 2019 - Philadelphia, United States
持續時間: 10 七月 201912 七月 2019

出版系列

名字Proceedings of the American Control Conference
2019-July
ISSN(列印)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
國家United States
城市Philadelphia
期間10/07/1912/07/19

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