Autonomous feature following for visual surveillance using a small unmanned aerial vehicle with gimbaled camera system

Abstract

This paper represents the development of feature following control and distributed navigation algorithms for visual surveillance using a small unmanned aerial vehicle equipped with a low-cost imaging sensor unit. An efficient map-based feature generation and following control algorithm is developed to make an onboard imaging sensor to track a target. An efficient navigation system is also designed for real-time position and velocity estimates of the unmanned aircraft, which is used as inputs for the path following controller. The performance of the proposed autonomous path following capability with a stabilized gimbaled camera onboard a small unmanned aerial robot is demonstrated through flight tests with application to target tracking for real-time visual surveillance.

Development and Implementation of a Adaptive Fuzzy Control System for a VTOL Vehicle in Hovering Mode

“…Advances in sensors, control technology and electronics enable the possibility of that. Currently, there are various commercial and experimental autonomous unmanned VTOL vehicles are being developed at universities, research centers, and by hobbists [4][5][6][7].…”

Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor

“…In particular, there has been significant interest in unmanned multirotor helicopters [4][5][6][7][8][9][10][11]. This is primarily due to the wide range of applications and to their mechanical simplicity and durability.…”

Adaptive control of a tilt - roll rotor quadrotor UAV

“…One of the most important reasons behind this fact is that they are quite practical to use without a need for an airfield base [1][2][3][4]. As being one of the types of VTOL unit, quadrotors have been used for many applications and research studies, as well.…”