Parameterized trajectories for target localization using small and micro unmanned aerial vehicles

Jeffrey B. Corbets, Jack W. Langelaan

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

6 Scopus citations


This paper presents an approach to near-optimal target localization for small and micro uninhabited aerial vehicles using a family of pre-computed parameterized trajectories. These trajectories are pre-computed for a set of nominal target locations uniformly distributed over the sensor field of view and stored offline as a sequence of non-dimensional waypoints. Upon target detection, a trajectory corresponding to the nearest nominal target location is selected and dimensionalized. An onboard waypoint-navigating controller follows the waypoints. Thus, trajectory generation occurs in near-constant time, which allows for fast adaptation as the target state estimate is refined. Parameterization of the trajectories with respect to relative vehicle speed, sensor range, and sensor update rate allows the same table to be used for various combinations of sensor package and vehicle or vehicle operating conditions.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages6
StatePublished - 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

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


Other2008 American Control Conference, ACC
Country/TerritoryUnited States
CitySeattle, WA

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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