Dynamic Target Tracking of Small UAVs in Unstructured Environment

Autor:	Haiqing Li, Mengbo Yang, Yanbo Li, Liming Dai, Chunhui Zhao
Jazyk:	angličtina
Rok vydání:	2023
Předmět:	DTE-tracker DWA Computer Networks and Communications Hardware and Architecture Control and Systems Engineering Signal Processing UAV system Electrical and Electronic Engineering target tracking
Zdroj:	Electronics Volume 12 Issue 5 Pages: 1078
ISSN:	2079-9292
DOI:	10.3390/electronics12051078
Popis:	In this paper, an adaptive multi-rotor UAV system of dynamic target tracking and path planning is proposed for the problems of occlusion, lighting change, and similar target interference in an unstructured environment. A DTE-tracker module is designed, consisting of a detector, tracker, and examiner, and proposes a dynamic target capture mechanism to improve the robustness and continuity of target tracking in complex environments. A DWA local path planning algorithm based on a dynamic target tracking task is proposed to control the yaw of the UAV to accurately locate specific targets in the center of the image, and finally achieve the purpose of stable tracking. A UAV platform was built equipped with an onboard computer, laser sensor, and visual sensor, and a series of target tracking and path planning experiments were carried out to verify the effectiveness of the method and test the performance of the algorithm in a complex jungle environment.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6a72ae625281fb77d3c06da6fcd5f0f4 Zobrazit plný text záznamu