Abstract
This paper presents an integrated vision-based navigation system for small autonomous aircraft. Previously developed sensor fusion algorithms based on the Unscented Kalman Filter (UKF) are combined with an adaptive receding horizon controller (ARHC) for guidance. Control and planning horizons are computed based on the sensor range and the effective speed of the UAV, which is computed as a weighted sum of estimated vehicle speed and time rate of change of the uncertainty of the obstacle position estimates. Simulation results demonstrate the integrated system and illustrate the value of the adaptive approach.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings of the 2006 American Control Conference |
| Pages | 2160-2165 |
| Number of pages | 6 |
| Volume | 2006 |
| State | Published - 2006 |
| Event | 2006 American Control Conference - Minneapolis, MN, United States Duration: Jun 14 2006 → Jun 16 2006 |
Other
| Other | 2006 American Control Conference |
|---|---|
| Country | United States |
| City | Minneapolis, MN |
| Period | 6/14/06 → 6/16/06 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Cite this
Frew, E. W., Langelaan, J. W., & Sungmoon, J. (2006). Adaptive receding horizon control for vision-based navigation of small unmanned aircraft. In Proceedings of the 2006 American Control Conference (Vol. 2006, pp. 2160-2165). [1656539]