An image based visual servoing approach for multi-target tracking using an quad-tilt rotor UAV

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dc.contributor.authorZarudzki, Mateusz
dc.contributor.authorShin, Hyosang
dc.contributor.authorLee, Chang-Hun
dc.date.accessioned2019-01-07T14:02:53Z
dc.date.available2019-01-07T14:02:53Z
dc.date.issued2017-12-31
dc.description.abstractThis paper proposes a guidance algorithm of a UAV for multiple targets tracking, considering physical constraints of the platform and its sensor. The on-board sensor used for target tracking is a camera. To relax the need of a gimbal system and provide flexibility in utilisation of the vision sensor, a new rotorcraft type of UAV is developed. The main focus in designing tracking guidance is to develop an image based visual servoing approach, appropriate to the newly developed platform. A complementary to the guidance system a control system for the unconventional UAV is also presented. Both control and guidance algorithms are based on the PID control techniques and this paper shows that the tracking guidance can be significantly simplified with the new type of UAV developed. The performance of the proposed tracking guidance along with the controller designed is validated by numerical simulations and flight tests.en_UK
dc.identifier.citationMateusz Zarudzki, Hyo-Sang Shin and Chang-Hun Lee. An image based visual servoing approach for multi-target tracking using an quad-tilt rotor UAV. Proceedings of the 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 13-16 June 2017, Miami, USA. pp. 781-790en_UK
dc.identifier.issn978-1-5090-4495-5
dc.identifier.urihppts://doi.org/10.1109/ICUAS.2017.7991451
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13787
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectTarget trackingen_UK
dc.subjectCamerasen_UK
dc.subjectAlgorithm design and analysisen_UK
dc.subjectMathematical modelen_UK
dc.subjectRotorsen_UK
dc.subjectVisual servoingen_UK
dc.subjectUnmanned aerial vehiclesen_UK
dc.titleAn image based visual servoing approach for multi-target tracking using an quad-tilt rotor UAVen_UK
dc.typeConference paperen_UK

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