Adaptive receding horizon control for vision-based navigation of small unmanned aircraft

Eric W. Frew; Jacob Willem Langelaan; Joo Sungmoon

Adaptive receding horizon control for vision-based navigation of small unmanned aircraft

Eric W. Frew, Jacob Willem Langelaan, Joo Sungmoon

Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

21 Scopus citations

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

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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title = "Adaptive receding horizon control for vision-based navigation of small unmanned aircraft",

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.",

author = "Frew, {Eric W.} and Langelaan, {Jacob Willem} and Joo Sungmoon",

year = "2006",

language = "English (US)",

isbn = "1424402107",

volume = "2006",

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booktitle = "Proceedings of the 2006 American Control Conference",

note = "2006 American Control Conference ; Conference date: 14-06-2006 Through 16-06-2006",

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AU - Langelaan, Jacob Willem

AU - Sungmoon, Joo

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N2 - 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.

AB - 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.

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M3 - Conference contribution

AN - SCOPUS:34047198114

SN - 1424402107

SN - 9781424402106

VL - 2006

SP - 2160

EP - 2165

BT - Proceedings of the 2006 American Control Conference

T2 - 2006 American Control Conference

Y2 - 14 June 2006 through 16 June 2006

ER -