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http://dx.doi.org/10.14372/IEMEK.2018.13.6.321

Implementation of Automatic Target Tracking System for Multirotor UAVs Using Velocity Command Based PID controller  

Jeong, Hyeon-Do (Incheon National University)
Ko, Seon-Jae (Incheon National University)
Choi, Byoung-Jo (Incheon National University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.13, no.6, 2018 , pp. 321-328 More about this Journal
Abstract
This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.
Keywords
Automatic flight; Target tracking; UAVs; PID controller;
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Times Cited By KSCI : 1  (Citation Analysis)
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