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Mobile-target tracking via highly-maneuverable VTOL UAVs with EO vision

Majnoon, M ; Sharif University of Technology | 2016

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  1. Type of Document: Article
  2. DOI: 10.1109/CRV.2016.49
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2016
  4. Abstract:
  5. Design of a vision-based target tracking control strategy for a dual-rotor UAV with tilting rotors is presented. In this research, the under-study UAV is equipped with a sliding mass that can slide over a motorized linear track attached to the UAV's fuselage enabling it to perform sophisticated maneuvers by monitoring its five controllable degrees of freedom. The dynamic model of the system is first derived and then a model-based controller using vision based pose estimation, obtained via an onboard down-looking camera, is designed enabling the UAV to: (1) pitch hover in position, (2) servo towards a target position, and (3) track a moving target. Simulations show the premise of the proposed vision-based control strategy
  6. Keywords:
  7. Tilting rotor ; UAV ; Aircraft control ; Clutter (information theory) ; Computer vision ; Degrees of freedom (mechanics) ; Linear control systems ; Robot applications ; Tracking (position) ; Unmanned aerial vehicles (UAV) ; Visual servoing ; LQR control ; Model-based controller ; Pitch hover ; POSIT ; Sliding mass ; Target position ; Vision based control ; Vision-based target tracking ; Target tracking
  8. Source: Proceedings - 2016 13th Conference on Computer and Robot Vision, CRV 2016, 1 June 2016 through 3 June 2016 ; 2016 , Pages 260-265 ; 9781509024919 (ISBN)
  9. URL: http://ieeexplore.ieee.org/document/7801530/?reload=true