@inproceedings{f3cc9e343f6b45b7b5cd239b745d9ad9,
title = "Stochastically optimized monocular vision-based guidance design",
abstract = "This paper designs a relative navigation and guidance system for unmanned aerial vehicles for monocular vision-based control applications. Since 2-D vision-based measurement is nonlinear with respect to the 3-D relative state, an extended Kalman filter (EKF) is applied in the navigation system design. It is well-known that the vision-based estimation performance highly depends on the relative motion of the vehicle to the target. Therefore, a main objective of this paper is to derive an optimal guidance law to achieve given missions under the condition that the EKF-based relative navigation outputs are fed back to the guidance system. This paper suggests a stochastic optimal guidance design that minimizes the expected value of a cost function of the guidance error and control effort subject to the EKF prediction and update procedures. A one-step-ahead suboptimal optimization technique is implemented to avoid iterative computations. The approach is applied to vision-based target tracking and obstacle avoidance, and simulation results are illustrated.",
author = "Yoko Watanabe and Johnson, {Eric N.} and Calise, {Anthony J.}",
year = "2007",
doi = "10.2514/6.2007-6865",
language = "English (US)",
isbn = "1563479044",
series = "Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
pages = "5349--5364",
booktitle = "Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007",
note = "AIAA Guidance, Navigation, and Control Conference 2007 ; Conference date: 20-08-2007 Through 23-08-2007",
}