Adaptive receding horizon control for vision-based navigation of small unmanned aircraft

Eric W. Frew, Jack Langelaan, Joo Sungmoon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Scopus citations


This paper presents an integrated vision-based navigation system for small autonomous aircraft. Previously developed sensor fusion algorithms based on the Unscented Kalman Filter (UKF) are combined with an adaptive receding horizon controller (ARHC) for guidance. Control and planning horizons are computed based on the sensor range and the effective speed of the UAV, which is computed as a weighted sum of estimated vehicle speed and time rate of change of the uncertainty of the obstacle position estimates. Simulation results demonstrate the integrated system and illustrate the value of the adaptive approach.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
Number of pages6
StatePublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


Dive into the research topics of 'Adaptive receding horizon control for vision-based navigation of small unmanned aircraft'. Together they form a unique fingerprint.

Cite this