•Classification of UAV
•Autonomy of UAV
•Autonomous target following methods
•Application of UAV
•Advantage & Disadvantage of UAV
In this paper we present an algorithm for the
autonomous navigation of an unmanned aerial
vehicle (UAV) following a moving target.
It gives applicable method for the tracking of ground
vehicles by aerial vehicles.
It depends on the capability to follow waypoint
commands. Sensing of ground vehicle position with
significant time delays is assumed.
The delays model the time of image processing, and
the communication delays involved in sending data to
a ground station, performing the computations and
receiving the results on the UAV.
The UAV is an acronym for Unmanned Aerial
Vehicle, which is an aircraft with no pilot on
UAVs can be remote controlled aircraft .(e.g.
flown by a pilot at a ground control station) or can
fly autonomously based on pre-programmed flight
plans or more complex dynamic automation
Target and decoy
Research and development
Civil and Commercial UAVs
Colour based vision
tracking is used.
Camera attached to the
airframe of UAV,
IMU & Barometer
Data is transmitted
between UAV & GCS
GCS done computation
Pan-tilt camera, PWM
servo driven, 2-axis
with gimbal position
feedback sensor for plane
Sensor stabilized with
flight software using IMU
feed forward technique
for target tracking
computed in ECEF
Commercial aerial surveillance
Oil, gas and mineral exploration and production
Search and rescue
Forest fire detection
Does not contain, or need, a qualified pilot on board
Can enter environments that are dangerous to human
Reduces the exposure risk of the aircraft operator
Can stay in the air for up to 30 hrs
Can be programmed to complete the mission
autonomously even when contact with it’s GCS is lost
Even if plane crash, pilot still safe.
UAVs can go faster
Very expensive to produce and keep up
Human mistake in remote controls can cause plane to
Computer systems or software could break down
resulting in loss of plane and casualities on ground.
In adverse weather such as rain, snow, ice, frost or fog
UAV can not be launched or land or perform its
Often mechanical failures
UAV follows lateral guidance law for autonomous
A full vision-based tracking , a color-based
tracking, GPS tracking, Image processing
techniques, Object recognition algorithm, Real
time vision algorithm etc. are followed by UAV
for autonomous target following.
Concorde Technical Specs,
UAV Roadmap 2005-2030,
Dp-5X, X-50 Dragonfly,
UAVs as Tactical wingmen,
Autopilot Design, http://www.aiaa.org/content.cfm?
Flight Systems and Goals