Autonomous Tracking and Terminal Guidance of Moving Targets for Fixed-Wing UAVs
This study introduces a unified control framework for fixed-wing unmanned aerial vehicles (UAVs) fitted with a pan-tilt (PT) camera, intended to perform an end-to-end mission spanning from initial target detection to accurate terminal engagement. The proposed system employs a three-phase strategy: a vision-based target acquisition phase, an NMPC-based tracking phase, and a terminal guidance phase. During tracking, the framework uses an Unscented Kalman Filter (UKF) to fuse YOLO-based visual detections with inertial measurements, enabling robust target state estimation under unknown dynamics. To ensure reliable visual contact, we introduce a constraint-aware Nonlinear Model Predictive Cont...
| Authors | Wei-Hao Liou, Teng-Hu Cheng |
|---|---|
| Primary category | cs.RO |
| Published | 14 July 2026 |
| Last updated at source | 14 July 2026 |
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