Vision-based guidance design from sensor trajectory optimization

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

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

11 Citations (SciVal)

Abstract

This paper considers a vehicle guidance design to achieve given missions using a single vision sensor. An extended Kalman filter is used for relative state estimation, and the estimates are fed back to the guidance system. This paper suggests that including sensor trajectory optimization into the design improves guidance performance. The guidance design is formulated as a minimization problem for a weighed sum of guidance performance cost, control cost and estimation performance cost. The weight for the estimation performance cost is determined by using the estimation error covariance. The optimization problem is solved numerically using dynamic programming. Simulation results for three vision-based control applications of target tracking, obstacle avoidance, and formation flight are illustrated. Also, a guidance design based on one-step-ahead optimization is suggested.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages4401-4410
Number of pages10
ISBN (Print)1563478196, 9781563478192
DOIs
StatePublished - Jan 1 2006
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Volume7

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
Country/TerritoryUnited States
CityKeystone, CO
Period8/21/068/24/06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Fingerprint

Dive into the research topics of 'Vision-based guidance design from sensor trajectory optimization'. Together they form a unique fingerprint.

Cite this