Name
Title | ||
|---|---|---|
Comparison Of Lateral Controllers For Following Linear Structures Using Computer Vision |
Abstract | ||
|---|---|---|
This paper presents a comparison of lateral controllers for vision-based control of a small autonomous aircraft following a road. Control strategies are designed to stabilize the aircraft lateral control using only the vision measurements and inertial sensors. Methods compared here include several aim-ahead controllers, sliding surface controllers, linear quadratic Gaussian (LQG) regulators, and a receding horizon controller (RHC). Simulation results are given comparing the controllers under ideal conditions as well as with background wind, a zero-roll, assumption in the vision system, and realistic quantization of the control output by the low-level flight control system. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ACC.2006.1656538 | 2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 |
Keywords | DocType | Volume |
vision system,inertial sensors,machine vision,linear quadratic gaussian,inertial navigation,mobile robots,automatic control,stability,linear quadratic gaussian control,control systems,computer vision,visual servoing | Conference | 1-12 |
ISSN | Citations | PageRank |
0743-1619 | 2 | 0.53 |
References | Authors | |
6 | 1 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Eric W. Frew | 1 | 182 | 26.73 |