scholarly journals Robust Vision-Based Control of a Rotorcraft UAV for Uncooperative Target Tracking

Sensors ◽  
2020 ◽  
Vol 20 (12) ◽  
pp. 3474 ◽  
Author(s):  
Shijie Zhang ◽  
Xiangtian Zhao ◽  
Botian Zhou
Keyword(s):  
Target Tracking ◽  
Image Plane ◽  
Image Features ◽  
Target Velocity ◽  
External Interference ◽  
Virtual Camera ◽  
Observation Area ◽  
Exponentially Stable ◽  
Aerial Vehicle ◽  
Rotorcraft Uav

This paper investigates the problem of using an unmanned aerial vehicle (UAV) to track and hover above an uncooperative target, such as an unvisited area or an object that is newly discovered. A vision-based strategy integrating the metrology and the control is employed to achieve target tracking and hovering observation. First, by introducing a virtual camera frame, the reprojected image features can change independently of the rotational motion of the vehicle. The image centroid and an optimal observation area on the virtual image plane are exploited to regulate the relative horizontal and vertical distance. Then, the optic flow and gyro measurements are utilized to estimate the relative UAV-to-target velocity. Further, a gain-switching proportional-derivative (PD) control scheme is proposed to compensate for the external interference and model uncertainties. The closed-loop system is proven to be exponentially stable, based on the Lyapunov method. Finally, simulation results are presented to demonstrate the effectiveness of the proposed vision-based strategy in both hovering and tracking scenarios.

Dynamic IBVS of a rotary wing UAV using line features

Robotica ◽  
2014 ◽  
Vol 34 (9) ◽  
pp. 2009-2026 ◽  
Author(s):  
Hui Xie ◽  
Alan F. Lynch ◽  
Martin Jagersand
Keyword(s):  
Visual Servoing ◽  
Depth Estimation ◽  
Image Features ◽  
Interaction Matrix ◽  
Globally Asymptotically Stable ◽  
Virtual Camera ◽  
Control Objective ◽  
Aerial Vehicle ◽  
Inspection Tasks ◽  
Rotary Wing

SUMMARYIn this paper we propose a dynamic image-based visual servoing (IBVS) control for a rotary wing unmanned aerial vehicle (UAV) which directly accounts for the vehicle's underactuated dynamic model. The motion control objective is to follow parallel lines and is motivated by power line inspection tasks where the UAV's relative position and orientation to the lines are controlled. The design is based on a virtual camera whose motion follows the onboard physical camera but which is constrained to point downwards independent of the vehicle's roll and pitch angles. A set of image features is proposed for the lines projected into the virtual camera frame. These features are chosen to simplify the interaction matrix which in turn leads to a simpler IBVS control design which is globally asymptotically stable. The proposed scheme is adaptive and therefore does not require depth estimation. Simulation results are presented to illustrate the performance of the proposed control and its robustness to calibration parameter error.

scholarly journals The New Evolution for SIA Rotorcraft UAV Project

2010 ◽  
Vol 2010 ◽  
pp. 1-9 ◽  
Author(s):  
Juntong Qi ◽  
Dalei Song ◽  
Lei Dai ◽  
Jianda Han ◽  
Yuechao Wang
Keyword(s):  
Control Method ◽  
Test Bed ◽  
Advanced Control ◽  
Autonomous Mode ◽  
Chinese Academy Of Sciences ◽  
Aerial Vehicle ◽  
Active Modeling ◽  
Rotorcraft Uav ◽  
The One ◽  
Academy Of Sciences

This paper describes recent research on the design, implement, and testing of a new small-scaled rotorcraft Unmanned Aerial Vehicle (RUAV) system—ServoHeli-40. A turbine-powered UAV weighted less than 15 kg was designed, and its major components were tested at the Shenyang Institute of Automation, Chinese Academy of Sciences in Shenyang, China. The aircraft was designed to reach a top speed of more than 20 mps, flying a distance of more than 10 kilometers, and it is going to be used as a test-bed for experimentally evaluating advanced control methodologies dedicated on improving the maneuverability, reliability, as well as autonomy of RUAV. Sensors and controller are all onboard. The full system has been tested successfully in the autonomous mode using the multichannel active modeling controller. The results show that in a real windy environment the rotorcraft UAV can follow the trajectory which was assigned by the ground control station exactly, and the new control method is obviously more effective than the one in the past year's research.

Proportional Navigation (PN) Based Tracking of Ground Targets by Quadrotor UAVs

2013 ◽  
Author(s):  
Ruoyu Tan ◽  
Manish Kumar
Keyword(s):  
Target Tracking ◽  
Proportional Navigation ◽  
Tracking Method ◽  
Maneuvering Targets ◽  
Time Optimal ◽  
Aerial Vehicle ◽  
Quadrotor Uavs ◽  
The One ◽  
Rotary Wing ◽  
Guidance Laws

This paper addresses the problem of controlling a rotary wing Unmanned Aerial Vehicle (UAV) tracking a target moving on ground. The target tracking problem by UAVs has received much attention recently and several techniques have been developed in literature most of which have been applied to fixed wing aircrafts. The use of quadrotor UAVs, the subject of this paper, for target tracking presents several challenges especially for highly maneuvering targets since the development of time-optimal controller (required if target is maneuvering fast) for quadrotor UAVs is extremely difficult due to highly non-linear dynamics. The primary contribution of this paper is the development of a proportional navigation (PN) based method and its implementation on quad-rotor UAVs to track moving ground target. The PN techniques are known to be time-optimal in nature and have been used in literature for developing guidance systems for missiles. There are several types of guidance laws that come within the broad umbrella of the PN method. The paper compares the performance of these guidance laws for their application on quadrotors and chooses the one that performs the best. Furthermore, to apply this method for target tracking instead of the traditional objective of target interception, a switching strategy has also been designed. The method has been compared with respect to the commonly used Proportional Derivative (PD) method for target tracking. The experiments and numerical simulations performed using maneuvering targets show that the proposed tracking method not only carries out effective tracking but also results into smaller oscillations and errors when compared to the widely used PD tracking method.

Nonlinear dynamic image-based visual servoing of a quadrotor

2015 ◽  
Vol 3 (1) ◽  
pp. 1-21 ◽  
Author(s):  
Geoff Fink ◽  
Hui Xie ◽  
Alan F. Lynch ◽  
Martin Jagersand
Keyword(s):  
Visual Servoing ◽  
Lateral Position ◽  
Control Law ◽  
Stationary Target ◽  
Dynamic Image ◽  
Change Of State ◽  
Dependent Change ◽  
Exponentially Stable ◽  
Aerial Vehicle ◽  
Error Dynamics

This paper proposes a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single fixed on-board camera facing downward. The motion control problem is to regulate the relative lateral position of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it is based on the dynamics and kinematics of the vehicle. The proposed design uses a nonlinear input-dependent change of state coordinates and its error dynamics are proven to be locally exponentially stable with an estimate provided for the region of attraction. Experimental and simulation results demonstrate the method's ease of on-board implementation, performance, and robustness. The simulation and experimental results include a comparison with an established dynamic IBVS method. This comparison shows the proposed method can provide similar performance with the benefit of reduced complexity.

scholarly journals Unmanned Aerial Vehicle Video-Based Target Tracking Algorithm Using Sparse Representation

2019 ◽  
Vol 6 (6) ◽  
pp. 9689-9706 ◽  
Author(s):  
Minjie Wan ◽  
Guohua Gu ◽  
Weixian Qian ◽  
Kan Ren ◽  
Xavier Maldague ◽  
...  
Keyword(s):  
Sparse Representation ◽  
Target Tracking ◽  
Unmanned Aerial Vehicle ◽  
Tracking Algorithm ◽  
Aerial Vehicle

scholarly journals Doppler Data Association Scheme for Multi-Target Tracking in an Active Sonar System

Sensors ◽  
2019 ◽  
Vol 19 (9) ◽  
pp. 2003
Author(s):  
Yu Yao ◽  
Junhui Zhao ◽  
Lenan Wu
Keyword(s):  
Target Tracking ◽  
Data Association ◽  
Target Range ◽  
Target Velocity ◽  
Linear Filter ◽  
Velocity Measurements ◽  
Active Sonar ◽  
Sonar System ◽  
Multi Target Tracking ◽  
Doppler Data

In many wireless sensors, the target kinematic states include location and Doppler information that can be observed from a time series of range and velocity measurements. In this work, we present a tracking strategy for comprising target velocity components as part of the measurement supplement procedure and evaluate the advantages of the proposed scheme. Data association capability can be considered as the key performance for multi-target tracking in an active sonar system. Then, we proposed an enhanced Doppler data association (DDA) scheme which exploits target range and target velocity components for linear multi-target tracking. If the target velocity measurements are not incorporated into target kinematic state tracking, the linear filter bank for the combination of target velocity components can be implemented. Finally, a significant enhancement in the multi-target tracking capability provided by the proposed DDA scheme with the linear multi-target combined probabilistic data association method is demonstrated in a sonar underwater scenario.

scholarly journals High-Speed Target Tracking Using Vibration-Based Image Features

2012 ◽  
Vol 78 (788) ◽  
pp. 1143-1153
Author(s):  
Ikuya OHARA ◽  
Takeshi TAKAKI ◽  
Idaku ISHII
Keyword(s):  
Target Tracking ◽  
High Speed ◽  
Image Features

scholarly journals Fuzzy logic controller for predictive vision-based target tracking with an unmanned aerial vehicle

2017 ◽  
Vol 31 (7) ◽  
pp. 368-381 ◽  
Author(s):  
El Houssein Chouaib Harik ◽  
François Guérin ◽  
Frédéric Guinand ◽  
Jean-François Brethé ◽  
Hervé Pelvillain ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Target Tracking ◽  
Unmanned Aerial Vehicle ◽  
Fuzzy Logic Controller ◽  
Aerial Vehicle
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