4.7 Article

Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments

Journal

IEEE-CAA JOURNAL OF AUTOMATICA SINICA
Volume 8, Issue 2, Pages 344-360

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JAS.2020.1003530

Keywords

Nano-scale quadrotor; nonlinear control; position-based visual servoing; visual object tracking

Funding

  1. Graduate Education and Teaching Reform Project of Tsinghua University [2019GQG1023]
  2. National Natural Science Foundation of China [202007J007]
  3. Independent Research Program of Tsinghua University [U19B2029, 62073028, 61803222]
  4. [2018Z05JDX002]

Ask authors/readers for more resources

The paper presents a visual object tracking and servoing control system using a tailor-made 38 g nano-scale quadrotor. A lightweight visual module and micro positioning deck are integrated to enable object tracking capabilities. A novel object tracking algorithm, RMCTer, and a position-based visual servoing control method are proposed for the quadrotor, demonstrating stable and accurate object tracking even under disturbances.
There are two main trends in the development of unmanned aerial vehicle (UAV) technologies: miniaturization and intellectualization, in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging problems. In this paper, we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor. A lightweight visual module is integrated to enable object tracking capabilities, and a micro positioning deck is mounted to provide accurate pose estimation. In order to be robust against object appearance variations, a novel object tracking algorithm, denoted by RMCTer, is proposed, which integrates a powerful short-term tracking module and an efficient long-term processing module. In particular, the long-term processing module can provide additional object information and modify the short-term tracking model in a timely manner. Furthermore, a position-based visual servoing control method is proposed for the quadrotor, where an adaptive tracking controller is designed by leveraging backstepping and adaptive techniques. Stable and accurate object tracking is achieved even under disturbances. Experimental results are presented to demonstrate the high accuracy and stability of the whole tracking system.

Authors

I am an author on this paper
Click your name to claim this paper and add it to your profile.

Reviews

Primary Rating

4.7
Not enough ratings

Secondary Ratings

Novelty
-
Significance
-
Scientific rigor
-
Rate this paper

Recommended

No Data Available
No Data Available