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

Eric W. Frew, Jacob Willem Langelaan, Joo Sungmoon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 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 languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
Pages2160-2165
Number of pages6
Volume2006
StatePublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Other

Other2006 American Control Conference
CountryUnited States
CityMinneapolis, MN
Period6/14/066/16/06

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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]