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Interception of an aerial manoeuvring target using monocular vision

Jana, S and Tony, LA and Bhise, AA and Vp, V and Ghose, D (2022) Interception of an aerial manoeuvring target using monocular vision. In: Robotica, 40 (12). pp. 4535-4554.

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Official URL: https://doi.org/10.1017/S0263574722001096


In this work, a vision-based guidance algorithm for interception of an aerial manoeuvring target is proposed. Vision-based aerial engagement in 3D space in an outdoor environment is challenging due to uncertainty in estimating the target location. The vision-based guidance algorithm proposed here generates the desired velocity commands for the interceptor drone based on the orientation of the target pixel in the image plane. The desired velocity at the centre of gravity of the interceptor is calculated such that the velocity at the camera centre is aligned towards the line joining the target pixel and the camera centre. It is shown that the proposed guidance strategy forces the target pixel towards the centre of the image plane and leads to low miss distance. The algorithm developed is first tested in the ROS-Gazebo platform and then implemented in field experiments. ©

Item Type: Journal Article
Publication: Robotica
Publisher: Cambridge University Press
Additional Information: The copyright for this article belongs to the Authors.
Keywords: Air navigation; Antennas; Cameras; Uncertainty analysis; Vision, 3D spaces; Aerial robotic janum; Aerial robotics; Guidance algorithm; Image plane; Interception; Manoeuvring target; Monocular vision; Vision based; Vision-based guidance, Pixels
Department/Centre: Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 29 Dec 2022 10:50
Last Modified: 29 Dec 2022 10:50
URI: https://eprints.iisc.ac.in/id/eprint/78621

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