dc.contributor.advisor | Rogers, John | |
dc.contributor.advisor | Bhatthacharya, Raktim | |
dc.creator | Miller, Nathaniel Russell | |
dc.date.accessioned | 2016-09-23T19:51:28Z | |
dc.date.available | 2016-09-23T19:51:28Z | |
dc.date.created | 2014-05 | |
dc.date.issued | 2014-03-18 | |
dc.date.submitted | May 2014 | |
dc.identifier.uri | https://hdl.handle.net/1969.1/158144 | |
dc.description.abstract | An 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.mimetype | application/pdf | |
dc.language.iso | en | |
dc.subject | multirotor | en |
dc.subject | video tracking | en |
dc.title | Simultaneous Tracking of Multiple Ground Vehicles from a Single Mulitrotor UAV | en |
dc.type | Thesis | en |
thesis.degree.department | Aerospace Engineering | en |
thesis.degree.discipline | Aerospace Engineering | en |
thesis.degree.grantor | Texas A & M University | en |
thesis.degree.name | Master of Science | en |
thesis.degree.level | Masters | en |
dc.contributor.committeeMember | Rathinam, Sivakumar | |
dc.type.material | text | en |
dc.date.updated | 2016-09-23T19:51:28Z | |
local.etdauthor.orcid | 0000-0003-3835-953X | |