Show simple item record

dc.contributor.advisorRogers, John
dc.contributor.advisorBhatthacharya, Raktim
dc.creatorMiller, Nathaniel Russell
dc.date.accessioned2016-09-23T19:51:28Z
dc.date.available2016-09-23T19:51:28Z
dc.date.created2014-05
dc.date.issued2014-03-18
dc.date.submittedMay 2014
dc.identifier.urihttps://hdl.handle.net/1969.1/158144
dc.description.abstractAn algorithm for autonomous multirotor tracking of an arbitrary number of ground targets is formulated and evaluated through simulation. The algorithm consists of a particle filter to predict target motion, trajectory generator, and model predictive controller operating over a finite time horizon. Furthermore, a target selection algorithm is included to reject targets that preclude accurate tracking of the main target set. Performance of the guidance algorithm is evaluated through simulation using real-world target data. Simulation results show that targets can be kept within the camera’s field of view when using either a gimbaled or non-gimbaled camera, but performance may be substantially degraded in the non-gimbaled case when target dynamics occur on time scales similar to tracking vehicle dynamics.en
dc.format.mimetypeapplication/pdf
dc.language.isoen
dc.subjectmultirotoren
dc.subjectvideo trackingen
dc.titleSimultaneous Tracking of Multiple Ground Vehicles from a Single Mulitrotor UAVen
dc.typeThesisen
thesis.degree.departmentAerospace Engineeringen
thesis.degree.disciplineAerospace Engineeringen
thesis.degree.grantorTexas A & M Universityen
thesis.degree.nameMaster of Scienceen
thesis.degree.levelMastersen
dc.contributor.committeeMemberRathinam, Sivakumar
dc.type.materialtexten
dc.date.updated2016-09-23T19:51:28Z
local.etdauthor.orcid0000-0003-3835-953X


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record