Tracking Strategy of Unmanned Aerial Vehicle for Tracking Moving Target

다국어 초록 (Multilingual Abstract)

Unmanned aerial vehicles (UAVs) are prone to losing their targets when tracking moving objectives. A tracking strategy is proposed herein that enables the standoff tracking of a moving target using a vision system, which significantly reduces the occurrence of target loss. The strategy combines the Gimbal Control Algorithm based on Motion Compensation (GCAMC) with the Improved Reference Point Guidance Method (IRPGM). The GCAMC utilizes the attitude of the UAV and the deviation of the target from image center as the feedback. The target can be kept within the field-of-view (FOV) of the camera when the gimbal model is unknown. The IRPGM generates straight or circular paths according to the speed and potition of the target, while the UAV will continuously track the generated trajectory to achieve the objective of target tracking. To validate and demonstrate the tracking performance of the proposed strategy, a closed-loop visual simulation platform was devised and implemented to simulate the process of target tracking. The results of the simulation demonstrate that by using the proposed approach, the UAV can enter the desired trajectory quickly when its initial position and flight direction are arbitrary.

참고문헌 (Reference)

1 A. Qadir, "Vision based neurofuzzy controller for a two axes gimbal system with small UAV" 74 (74): 1029-1047, 2014

2 C. Kanellakisr, "Survey on computer vision for UAVs : Current developments and trends" 87 (87): 141-168, 2017

3 S. Lim, "Standoff target tracking using a vector field for multiple unmanned aircrafts" 69 (69): 347-360, 2013

4 Hui Ye, "Standoff Tracking of a Moving Target for Quadrotor Using Lyapunov Potential Function" 제어·로봇·시스템학회 18 (18): 845-855, 2020

5 H. Oh, "Persistent standoff tracking guidance using constrained particle filter for multiple UAVs" 84 : 257-264, 2019

6 S. Park, "Performance and lyapunov stability of a nonlinear path following guidance method" 30 (30): 1718-1728, 2007

7 J. F. Henriques, "High-speed tracking with kernelized correlation filters" 37 (37): 583-596, 2014

8 S. Park, "Guidance law for standoff tracking of a moving object" 40 (40): 2948-2955, 2017

9 M. Zhang, "Guidance law for cooperative tracking of a ground target based on leaderfollower formation of UAVs" 39 (39): 321497-, 2018

10 C. F. Hu, "Fuzzy multiobjective cooperative surveillance of multiple UAVs based on distributed predictive control for unknown ground moving target in urban environment" 84 : 329-338, 2019

11 B. R. Geiger, "Flight testing a real time implementation of a UAV path planner using direct collocation" 1-18, 2007

12 M. Danelljan, "ECO : Efficient convolution operators for tracking" 6638-6646, 2017

13 Z. Li, "Development and implementation of L1 gimbal tracking loop onboard of small UAV" 1-18, 2009

14 H. Oh, "Decentralised standoff tracking of moving targets using adaptive sliding mode control for UAVs" 76 (76): 169-183, 2014

15 A. A. Pothen, "Curvature-constrained Lyapunov vector field for standoff target tracking" 40 (40): 2729-2736, 2017

16 E. W. Frew, "Coordinated standoff tracking of moving targets using Lyapunov guidance vector fields" 31 (31): 290-306, 2008

17 P. Yao, "Cooperative path planning with applications to target tracking and obstacle avoidance for multi-UAVs" 54 : 10-22, 2016

18 J. Hong, "Cooperative circular pattern target tracking using navigation function" 76 : 105-111, 2018

19 S. Park, "Circling over a target with relative side bearing" 39 (39): 1454-1458, 2016

20 C. E. Lin, "Camera gimbal tracking from uav flight control" 319-322, 2014

21 M. Danelljan, "Beyond correlation filters : Learning continuous convolution operators for visual tracking" Springer 472-488, 2016

22 X. B. Qu, "A novel yaw control method for flying-wing aircraft in low speed regime" 69 : 636-649, 2017

23 S. Park, "A new nonlinear guidance logic for trajectory tracking" 1-18, 2004

24 A. Modirrousta, "A modified guidance law for ground moving target tracking with a class of the fast adaptive second-order sliding mode" 38 (38): 819-831, 2016

25 Z. Y. Zhang, "A flexible new technique for camera calibration" 22 (22): 1330-1334, 2000