Vision-based Tracking of a Moving Ground Object by Quadcopter UAV using Noise Filtering
Tracking of ground object using quadrotor unmanned aerial vehicles (UAVs) still remains challenging because of highly involved dynamics of quadrotor UAVs and the presence of large amounts of sensory and computed noise in the control system loop. This study proposes a visual servoing control system of a quadrotor UAV for tracking of a moving ground object. The proposed control system employs a single monocular camera to estimate object’s
position and allows to compensate for the noise introduced by the visual sensor by means of filtering. The proposed control strategy was verified through a series of computer simulations for various distinctive object motion trajectories and velocities. Implementation of the developed vision-based control system with noise filtering allowed to decrease object tracking error by 30%-60% depending on the object’s velocity. In addition, simulation results demonstrated that the developed control system allowed to increase the range of trackable object velocities, with the maximum tracking velocity increasing by 11% in case of a sharp turn as a result of filter implementation.
Disclaimer/Regarding indexing issue:
We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information.