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AUTONOMOUS TARGET
FOLLOWING BY UAV
SEMINAR GUIDE
KUBER K.H.
Outlines
•Abstract
•Introduction
•Classification of UAV
•Autonomy of UAV
•Autonomous target following methods
•Application of UAV
•Advantage & Disadvantage of UAV
•Conclusion
•Reference
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
board.
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
systems.
Target and decoy
Reconnaissance
Combat
Research and development
Civil and Commercial UAVs
Logistics
 Sensor fusion
 Communications
 Path planning
 Trajectory Generation/Motion planning
 Trajectory Regulation
 Task Allocation and Scheduling
 Cooperative Tactics
Path planning

Cameras, Horizon air framework, Image
processing technique, object recognition algorithm
Sensing
Vision based system with downward looking
camera
Filtering
Kalman filter
Idle
 Explore
 Vision-based tracking
 GPS-based tracking
 Align
 Safe state
Input image
Filtering
Car detection
Matching
Taking off
Following
1. Target initialization
2. On-time tracking
3. Error handling
Landing
Colour based vision

tracking is used.
Camera attached to the
airframe of UAV,
pointing downwards,
IMU & Barometer
Data is transmitted
between UAV & GCS
through radio
transmission
GCS done computation
Pan-tilt camera, PWM

servo driven, 2-axis
(pitch-yaw) controller
with gimbal position
feedback sensor for plane
orientation tracking
Sensor stabilized with
flight software using IMU
feed forward technique
for target tracking
Target coordinates
computed in ECEF
 Remote sensing
 Commercial aerial surveillance
 Domestic policing
 Oil, gas and mineral exploration and production
 Transport
 Scientific research
 Armed attacks
 Civilian casualties
 Search and rescue
 Conservation
 Forest fire detection
 Archaeology
 Future potential
Does not contain, or need, a qualified pilot on board
Can enter environments that are dangerous to human

life
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
Safer environment
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

crash
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
function.
Often mechanical failures
UAV follows lateral guidance law for autonomous

target following.
 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,

http://www.concordesst.com/autopilot.html
 UAV Roadmap 2005-2030,
www.fas.org/irp/program/collect/uav_roadmap2005.pdf
 Dp-5X, X-50 Dragonfly,
http://www.defensetech.org/archives/001748.html
 UAVs as Tactical wingmen,
http://web.mit.edu/aeroastro/www/labs/halab/papers/UAV_wingmen_AUVSIdraft.pd
f

 Autopilot Design, http://www.aiaa.org/content.cfm?

pageid=406&gTable=mtgpaper&gID=95289
 Flight Systems and Goals
http://www.aa.washington.edu/research/afsl/
?
targetting system

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targetting system

  • 3. Outlines •Abstract •Introduction •Classification of UAV •Autonomy of UAV •Autonomous target following methods •Application of UAV •Advantage & Disadvantage of UAV •Conclusion •Reference
  • 4. 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.
  • 5. The UAV is an acronym for Unmanned Aerial Vehicle, which is an aircraft with no pilot on board. 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 systems.
  • 6. Target and decoy Reconnaissance Combat Research and development Civil and Commercial UAVs Logistics
  • 7.  Sensor fusion  Communications  Path planning  Trajectory Generation/Motion planning  Trajectory Regulation  Task Allocation and Scheduling  Cooperative Tactics
  • 8. Path planning Cameras, Horizon air framework, Image processing technique, object recognition algorithm Sensing Vision based system with downward looking camera Filtering Kalman filter
  • 9. Idle  Explore  Vision-based tracking  GPS-based tracking  Align  Safe state
  • 11. Taking off Following 1. Target initialization 2. On-time tracking 3. Error handling Landing
  • 12. Colour based vision tracking is used. Camera attached to the airframe of UAV, pointing downwards, IMU & Barometer Data is transmitted between UAV & GCS through radio transmission GCS done computation
  • 13. Pan-tilt camera, PWM servo driven, 2-axis (pitch-yaw) controller with gimbal position feedback sensor for plane orientation tracking Sensor stabilized with flight software using IMU feed forward technique for target tracking Target coordinates computed in ECEF
  • 14.  Remote sensing  Commercial aerial surveillance  Domestic policing  Oil, gas and mineral exploration and production  Transport  Scientific research  Armed attacks  Civilian casualties  Search and rescue  Conservation  Forest fire detection  Archaeology  Future potential
  • 15. Does not contain, or need, a qualified pilot on board Can enter environments that are dangerous to human life 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 Safer environment Even if plane crash, pilot still safe. UAVs can go faster
  • 16. Very expensive to produce and keep up Human mistake in remote controls can cause plane to crash 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 function. Often mechanical failures
  • 17. UAV follows lateral guidance law for autonomous target following.  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.
  • 18.  Concorde Technical Specs, http://www.concordesst.com/autopilot.html  UAV Roadmap 2005-2030, www.fas.org/irp/program/collect/uav_roadmap2005.pdf  Dp-5X, X-50 Dragonfly, http://www.defensetech.org/archives/001748.html  UAVs as Tactical wingmen, http://web.mit.edu/aeroastro/www/labs/halab/papers/UAV_wingmen_AUVSIdraft.pd f  Autopilot Design, http://www.aiaa.org/content.cfm? pageid=406&gTable=mtgpaper&gID=95289  Flight Systems and Goals http://www.aa.washington.edu/research/afsl/
  • 19. ?