Optimal 3-D guidance from a 2-D vision sensor

Yoko Watanabe, Eric Johnson, Anthony J. Calise

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

26 Citations (Scopus)

Abstract

This paper describes an optimal guidance policy for a vehicle to reach a relative position to a target, using information from a single fixed camera. Applying an extended Kalman filtering method, both of a velocity and a position of the vehicle relative to the target, can be estimated. However, estimates of a distance between the vehicle and the target are much worse than those of the other states. Therefore, in this paper, an optimal guidance policy is introduced that can reach the destination while maximizing the predicted accuracy of the range estimation. By limiting vehicle motion to a two dimensionals, the exact solution for control inputs for this optimization problem can be obtained. Simulation results show that the resulting optimal guidance policy gives far more accurate range estimation than a simple linear guidance policy.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
Pages319-328
Number of pages10
Volume1
StatePublished - Dec 1 2004
EventCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference - Providence, RI, United States
Duration: Aug 16 2004Aug 19 2004

Other

OtherCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
CountryUnited States
CityProvidence, RI
Period8/16/048/19/04

Fingerprint

Sensors
Cameras

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Watanabe, Y., Johnson, E., & Calise, A. J. (2004). Optimal 3-D guidance from a 2-D vision sensor. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference (Vol. 1, pp. 319-328). [AIAA 2004-4779]
Watanabe, Yoko ; Johnson, Eric ; Calise, Anthony J. / Optimal 3-D guidance from a 2-D vision sensor. Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference. Vol. 1 2004. pp. 319-328
@inproceedings{6ec7f50e8fd14fb5b118a442b07a430b,
title = "Optimal 3-D guidance from a 2-D vision sensor",
abstract = "This paper describes an optimal guidance policy for a vehicle to reach a relative position to a target, using information from a single fixed camera. Applying an extended Kalman filtering method, both of a velocity and a position of the vehicle relative to the target, can be estimated. However, estimates of a distance between the vehicle and the target are much worse than those of the other states. Therefore, in this paper, an optimal guidance policy is introduced that can reach the destination while maximizing the predicted accuracy of the range estimation. By limiting vehicle motion to a two dimensionals, the exact solution for control inputs for this optimization problem can be obtained. Simulation results show that the resulting optimal guidance policy gives far more accurate range estimation than a simple linear guidance policy.",
author = "Yoko Watanabe and Eric Johnson and Calise, {Anthony J.}",
year = "2004",
month = "12",
day = "1",
language = "English (US)",
isbn = "1563476703",
volume = "1",
pages = "319--328",
booktitle = "Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference",

}

Watanabe, Y, Johnson, E & Calise, AJ 2004, Optimal 3-D guidance from a 2-D vision sensor. in Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference. vol. 1, AIAA 2004-4779, pp. 319-328, Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference, Providence, RI, United States, 8/16/04.

Optimal 3-D guidance from a 2-D vision sensor. / Watanabe, Yoko; Johnson, Eric; Calise, Anthony J.

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference. Vol. 1 2004. p. 319-328 AIAA 2004-4779.

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

TY - GEN

T1 - Optimal 3-D guidance from a 2-D vision sensor

AU - Watanabe, Yoko

AU - Johnson, Eric

AU - Calise, Anthony J.

PY - 2004/12/1

Y1 - 2004/12/1

N2 - This paper describes an optimal guidance policy for a vehicle to reach a relative position to a target, using information from a single fixed camera. Applying an extended Kalman filtering method, both of a velocity and a position of the vehicle relative to the target, can be estimated. However, estimates of a distance between the vehicle and the target are much worse than those of the other states. Therefore, in this paper, an optimal guidance policy is introduced that can reach the destination while maximizing the predicted accuracy of the range estimation. By limiting vehicle motion to a two dimensionals, the exact solution for control inputs for this optimization problem can be obtained. Simulation results show that the resulting optimal guidance policy gives far more accurate range estimation than a simple linear guidance policy.

AB - This paper describes an optimal guidance policy for a vehicle to reach a relative position to a target, using information from a single fixed camera. Applying an extended Kalman filtering method, both of a velocity and a position of the vehicle relative to the target, can be estimated. However, estimates of a distance between the vehicle and the target are much worse than those of the other states. Therefore, in this paper, an optimal guidance policy is introduced that can reach the destination while maximizing the predicted accuracy of the range estimation. By limiting vehicle motion to a two dimensionals, the exact solution for control inputs for this optimization problem can be obtained. Simulation results show that the resulting optimal guidance policy gives far more accurate range estimation than a simple linear guidance policy.

UR - http://www.scopus.com/inward/record.url?scp=19644366703&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=19644366703&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:19644366703

SN - 1563476703

SN - 9781563476709

VL - 1

SP - 319

EP - 328

BT - Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference

ER -

Watanabe Y, Johnson E, Calise AJ. Optimal 3-D guidance from a 2-D vision sensor. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference. Vol. 1. 2004. p. 319-328. AIAA 2004-4779