The development of an object tracking controller for a quadcopter using an on-board vision system is presented. Using low-cost components, a novel system is introduced that operates entirely on board the quadcopter, without external localization sensors or GPS. A low-frequency monocular computer vision algorithm is applied in closed-loop control to track an object of known color. Parallel PID controllers for aircraft bearing, relative height and range are implemented with feedback from object offset and size in the image frame. The noise exaggerated by measuring range from object pixel area is mitigated with a Kalman filter. Stable closed-loop tracking is demonstrated experimentally for all three control axes when tested individually and coupled together. Individual settling times were under 10 seconds and coupled control settling times under 25 seconds.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    On-board object tracking control of a quadcopter with monocular vision


    Beteiligte:


    Erscheinungsdatum :

    01.05.2014


    Format / Umfang :

    1138971 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Object Tracking Based Combat Quadcopter

    Ul Saqib, M Najam / Baig, Shehroz / Mujahid, M et al. | IEEE | 2018



    Relative Localization within a Quadcopter Unmanned Aerial Vehicle Swarm Based on Airborne Monocular Vision

    Xiaokun Si / Guozhen Xu / Mingxing Ke et al. | DOAJ | 2023

    Freier Zugriff

    Embedded control using monocular vision: Face tracking

    Flores-Delgado, J. I. / Martinez-Santos, L. G. / Lozano, R. et al. | IEEE | 2017


    Quadrotor's trajectory tracking control using monocular vision navigation

    Mercado, D. A. / Castillo, P. / Lozano, R. | IEEE | 2015