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Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments
Yuzhen Liu; Ziyang Meng; Yao Zou; Ming Cao
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2021
Volume8Issue:2Pages:344-360
AbstractThere 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.
KeywordNano-scale quadrotor nonlinear control position-based visual servoing visual object tracking
DOI10.1109/JAS.2020.1003530
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Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/43917
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Yuzhen Liu,Ziyang Meng,Yao Zou,et al. Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(2):344-360.
APA Yuzhen Liu,Ziyang Meng,Yao Zou,&Ming Cao.(2021).Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments.IEEE/CAA Journal of Automatica Sinica,8(2),344-360.
MLA Yuzhen Liu,et al."Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments".IEEE/CAA Journal of Automatica Sinica 8.2(2021):344-360.
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