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Epipole-based guidance for an autonomous glider

Achicanoy, Wilson O Y Rodriguez, Carlos F Y Sangues, Carlos (2016) Epipole-based guidance for an autonomous glider. Journal Of Guidance Control And Dynamics, 39 (9). pp. 2073-2085. ISSN 0731-5090

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Two strategies based on epipolar geometry are proposed to guide an aerial vehicle to a desired position defined by a reference image. The starting point to design the strategies is the engagement geometry of two images: the online image provided by the onboard camera and the reference image. A full closed-loop system is derived combining the concept of classical proportional navigation, with the input–output nonlinear control technique, and the tracking of epipolar references. The main contribution of this paper is the definition of a guidance algorithm based on the partial linearization of the full closed-loop system by means of pure image-based information: the epipolar geometry across two views. The proposed formulation avoids the requirement of estimating the range between the current and target positions. Conditions for stability are established for both strategies. Simulation experiments show the interception of the target position by the aerial vehicle and, additionally, a simple attitude control.

Tipo de Elemento: Artículo
Asunto: T Tecnología > TK Electrical engineering. Electronics Nuclear engineering
Division: Facultad de Ingeniería > Programa de Ingeniería Electrónica > Productividad
Depósito de Usuario: Andres Pantoja
Fecha Deposito: 28 Jun 2018 04:43
Ultima Modificación: 28 Jun 2018 04:43

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