原创力文档road target search and tracking with gimballed vision sensor on an unmanned aerial vehicle道路目标搜索和跟踪与常平架无人机视觉传感器.pdfVIP
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road target search and tracking with gimballed vision sensor on an unmanned aerial vehicle道路目标搜索和跟踪与常平架无人机视觉传感器
Remote Sens. 2012, 4, 2076-2111; doi:10.3390/rs4072076
OPEN ACCESS
Remote Sensing
ISSN 2072-4292
/journal/remotesensing
Article
Road Target Search and Tracking with Gimballed Vision Sensor
on an Unmanned Aerial Vehicle
¨
Per Skoglar , Umut Orguner , David Tornqvist and Fredrik Gustafsson
¨
Division of Automatic Control, Department of Electrical Engineering (ISY), Linkoping University,
¨
SE-581 83 Linkoping, Sweden; E-Mails: umut@isy.liu.se (U.O.); tornqvist@isy.liu.se (D.T.);
fredrik@isy.liu.se (F.G.)
Department of Sensor and EW Systems, Swedish Defence Research Agency (FOI), Box 1165,
¨
SE-581 11 Linkoping, Sweden
Author to whom correspondence should be addressed; E-Mail: skoglar@isy.liu.se;
Tel.: +46-13-282-636.
Received: 17 May 2012; in revised form: 2 July 2012 / Accepted: 4 July 2012 /
Published: 12 July 2012
Abstract: This article considers a sensor management problem where a number of road
bounded vehicles are monitored by an unmanned aerial vehicle (UAV) with a gimballed
vision sensor. The problem is to keep track of all discovered targets and simultaneously
search for new targets by controlling the pointing direction of the vision sensor and the
motion of the UAV. A planner based on a state-machine is proposed with three different
modes; target tracking, known target search, and new target se
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