Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer

Cao, Zhiqiang; Chen, Xuchao; Yu, Yingying; Yu, Junzhi; Liu, Xiaoyang; Zhou, Chao; Tan, Min

doi:10.1109/tsmc.2017.2720173

Cited by 49 publications

(9 citation statements)

References 22 publications

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“…However, the optical flow method has limitations to measure the relative velocity between two moving vehicles that real-time and practicality may not be guaranteed because of the complicated calculation. Cao et al [19] proposed a trajectory observer to estimate the target's velocity based on nonlinear tracking-differntiator, but an accelerometer was required to obtain the quadrotor's velocity. A translational velocity observer was presented in [20] and [21] to estimate the relative velocity between quadrotor and target using actual image features.…”

Section: Introductionmentioning

confidence: 99%

Linear Velocity-Free Visual Servoing Control for Unmanned Helicopter Landing on a Ship With Visibility Constraint

Huang

Zhu

Zheng

et al. 2022

IEEE Trans. Syst. Man Cybern, Syst.

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Section: Introductionmentioning

confidence: 99%

Linear Velocity-Free Visual Servoing Control for Unmanned Helicopter Landing on a Ship With Visibility Constraint

Huang

Zhu

Zheng

et al. 2022

IEEE Trans. Syst. Man Cybern, Syst.

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“…Bounding boxes and feature points have been utilized as image features for tracking human beings [ 34 , 35 , 36 , 37 ], but the targets were moving at speeds that were so low that their motions could be ignored during tracking. Moreover, the orientation of the target is unavailable [ 38 ]. MPC has been applied to track a target moving along a periodic path, with this motion constraint reducing the complexity of the controller design [ 39 ].…”

Section: Introductionmentioning

confidence: 99%

“…The contributions of this work can be summarized as follows: An optimal tracking controller is developed to track a moving target undergoing unknown motion while meeting motion, control, and sensing constraints, where the relative motion between the target and the UAV is estimated. In contrast to previous approaches [ 34 , 35 , 36 , 37 , 38 ], this work models the dynamics of the relative rotation between the target and the UAV, and the relative angle can be controlled to a predefined desired value, which can be applied in applications such as the automatic searching, detection, and recognition of car license plate. The controller is designed to ensure that the target remains within the FOV.…”

Section: Introductionmentioning

confidence: 99%

“…In contrast to previous approaches [ 34 , 35 , 36 , 37 , 38 ], this work models the dynamics of the relative rotation between the target and the UAV, and the relative angle can be controlled to a predefined desired value, which can be applied in applications such as the automatic searching, detection, and recognition of car license plate.…”

Section: Introductionmentioning

confidence: 99%

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Visual Servoing of a Moving Target by an Unmanned Aerial Vehicle

Chen

Hung

Yang

et al. 2021

Sensors

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To track moving targets undergoing unknown translational and rotational motions, a tracking controller is developed for unmanned aerial vehicles (UAVs). The main challenges are to control both the relative position and orientation between the target and the UAV to within desired values, and to guarantee that the generated control input to the UAV is feasible (i.e., below its motion capability). Moreover, the UAV is controlled to ensure that the target always remains within the field of view of the onboard camera. These control objectives were achieved by developing a nonlinear-model predictive controller, in which the future motion of the target is predicted by quadratic programming (QP). Since constraints of the feature vector and the control input are considered when solving the optimal control problem, the control inputs can be bounded and the target can remain inside the image. Three simulations were performed to compare the efficacy and performance of the developed controller with a traditional image-based visual servoing controller.

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“…robots [2] to aerial robots [3], [4]. In the last decades, fastgrowing unmanned aerial vehicles (UAVs) have been utilized in wide range of military and nonmilitary tasks to perform searching, patrolling, target tracking, and surveillance in complex outdoor environments [5]- [8].…”

mentioning

confidence: 99%

A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes

Liu

Wang

et al. 2019

IEEE Trans. Syst. Man Cybern, Syst.

124

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Abstract-A quadrotor unmanned aerial vehicle (UAV) should have the ability to perform real-time target tracking and path planning simultaneously even when the target enters unstructured scenes, such as groves or forests. To accomplish this task, a novel system framework is designed and proposed to accomplish simultaneous moving target tracking and path planning by a quadrotor UAV with an onboard embedded computer, vision sensors, and a two-dimensional laser scanner. A support vector machine-based target screening algorithm is deployed to select the correct target from multiple candidates detected by single shot multibox detector. Furthermore, a new tracker named TLD-KCF is presented in this paper, in which a conditional scale adaptive algorithm is adopted to improve the tracking performance for a quadrotor UAV in cluttered outdoor environments. According to distance and position estimation for a moving target, our quadrotor UAV can acquire a control point to guide its fight. To reduce the computational burden, a fast path planning algorithm is proposed based on elliptical tangent model. A series of experiments are conducted on our quadrotor UAV platform DJI M100. Experimental video and comparison results among four kinds of target tracking algorithms are given to show the validity and practicality of the proposed approach.Index Terms-Path planning, quadrotor unmanned aerial vehicle (UAV), real-time target tracking, unstructured outdoor scenes.

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Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer

Cited by 49 publications

References 22 publications

Linear Velocity-Free Visual Servoing Control for Unmanned Helicopter Landing on a Ship With Visibility Constraint

Linear Velocity-Free Visual Servoing Control for Unmanned Helicopter Landing on a Ship With Visibility Constraint

Visual Servoing of a Moving Target by an Unmanned Aerial Vehicle

A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes

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