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Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2013

Tracking a Ground Moving Target with a Quadrotor Using Switching Control

Résumé

An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera's field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed.

Domaines

Automatique
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Dates et versions

hal-00923130 , version 1 (31-01-2014)

Identifiants

Citer

Jose-Ernesto Gomez-Balderas, Gerardo Ramon Flores Colunga, Luis-Rodolfo Garcia Carrillo, Rogelio Lozano. Tracking a Ground Moving Target with a Quadrotor Using Switching Control. Journal of Intelligent and Robotic Systems, 2013, 70 (1-4), pp.65-78. ⟨10.1007/s10846-012-9747-9⟩. ⟨hal-00923130⟩
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