Stochastically optimized monocular vision-based guidance design

Yoko Watanabe, Eric N. Johnson, Anthony J. Calise

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

12 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages5349-5364
Number of pages16
ISBN (Print)1563479044, 9781563479045
DOIs
StatePublished - Jan 1 2007
EventAIAA Guidance, Navigation, and Control Conference 2007 - Hilton Head, SC, United States
Duration: Aug 20 2007Aug 23 2007

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
Volume5

Other

OtherAIAA Guidance, Navigation, and Control Conference 2007
CountryUnited States
CityHilton Head, SC
Period8/20/078/23/07

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Watanabe, Y., Johnson, E. N., & Calise, A. J. (2007). Stochastically optimized monocular vision-based guidance design. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007 (pp. 5349-5364). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007; Vol. 5). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2007-6865