Comparison of lateral controllers for following linear structures using computer vision
- 1 January 2006
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2006 American Control Conference
- No. 07431619,p. 6 pp.
- https://doi.org/10.1109/acc.2006.1656538
Abstract
This paper presents a comparison of lateral controllers for vision-based control of a small autonomous aircraft following a road. Control strategies are designed to stabilize the aircraft lateral control using only the vision measurements and inertial sensors. Methods compared here include several aim-ahead controllers, sliding surface controllers, linear quadratic Gaussian (LQG) regulators, and a receding horizon controller (RHC). Simulation results are given comparing the controllers under ideal conditions as well as with background wind, a zero-roll assumption in the vision system, and realistic quantization of the control output by the low-level flight control systemKeywords
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