This paper proposes an image-based visual servoing control algorithm for air-to-ground UAV flight control, specifically tailored for emergency rescue scenarios. The controller is designed using a PD control strategy, while target detection is performed using the YOLOv5s object detector. A monocular camera is employed to identify the target and obtain its positional information in both the image coordinate system and the camera coordinate system. By regulating the relative position between the UAV and the target, the controller enables the UAV to precisely descend and hover above the target, facilitating further capture operation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Visual Servo Capture Control Strategy for UAVs Targeting in Emergency Rescue Scenarios


    Contributors:
    Zhen, Mi (author) / Zhang, Qinling (author) / Guo, Yonghui (author) / Zhang, Jiaju (author) / Chen, Long (author) / Wang, Bingheng (author)


    Publication date :

    2025-03-21


    Size :

    5043826 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Semi-autonomous teleoperation of UAVs in search and rescue scenarios

    Perez-Grau, F.J. / Ragel, R. / Caballero, F. et al. | IEEE | 2017


    Scheduling of Emergency Tasks for Multiservice UAVs in Post-Disaster Scenarios

    Rottondi, Cristina / Malandrino, Francesco / Bianco, Andrea et al. | ArXiv | 2020

    Free access

    Vehicle control in rescue lane scenarios

    DINGLI ROBERT JOSEPH / MARTIN JOSEPH MICHAEL | European Patent Office | 2024

    Free access

    VEHICLE CONTROL IN RESCUE LANE SCENARIOS

    DINGLI ROBERT JOSEPH / MARTIN JOSEPH MICHAEL | European Patent Office | 2024

    Free access

    Emergency rescue vehicle control method and device and emergency rescue vehicle

    XIA TAO / ZHANG YONG / LI JUN | European Patent Office | 2021

    Free access