This work focuses on visual-based target tracking of drone via visual simulation system. A simulation platform is particularly designed to simulate the environments in real-world applications. The platform follows a modular design. In this platform, Unreal Engine is chosen as the rendering platform, Airsim is employed to construct sensor models and acquire the kinematic state of drone body and environmental information. The drone is controlled by PX4 autopilot, and trajectory is planned by EGO-Planner. The target recognition and tracking is achieved by a siamese-based tracking algorithm. Four flight simulation experiments are conducted to verify the use of the developed framework for vision-based tracking, which demonstrate the usefulness and applying method of the simulation system for UAVs in disturbance scenarios.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Simulation Framework for Vision-Based Target Tracking Control of UAVs


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Qu, Yi (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Fu, Wenxing (editor) / Zhu, Ridong (author) / Sun, Meng (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2023 ; Nanjing, China September 09, 2023 - September 11, 2023



    Publication date :

    2024-04-25


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    On Vision-Based Target Tracking and Range Estimation for Small UAVs

    Wang, Ick / Dobrokhodov, Vladimir / Kaminer, Isaac et al. | AIAA | 2005


    Target Tracking with UAVs

    Jiang, Yifan | DataCite | 2024


    A Vision-Based Ground Moving Target Tracking System for Quadrotor UAVs

    Tian, Runze / Ji, Runze / Bai, Chengchao et al. | IEEE | 2023


    Vision based Tracking System for Small UAVs

    Lazarus, S. / Quintart, A. / Savvaris, A. et al. | British Library Conference Proceedings | 2012


    Mobile-Target Tracking via Highly-Maneuverable VTOL UAVs with EO Vision

    Majnoon, Mohsen / Samsami, Kiarash / Mehrandezh, Mehran et al. | IEEE | 2016