Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

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外文摘要：This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied environments.The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed.The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking.The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer.Thanks to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is mitigated.An integral-based filter is pro-posed to compensate for unpredictable environmental disturbances in order to improve the anti-disturbance ability.The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method.Comparative simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.

外文关键词：

Unmanned aerial vehicleVisual servoingVelocity observerTarget tracking

作者：

Yanjie Chen、Yangning Wu、Limin Lan、Hang Zhong、Zhiqiang Miao、Hui Zhang、Yaonan Wang

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作者单位：

School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China

Department of Computer Science,Aberystwyth University,Aberystwyth SY23 3DB,UK

National Engineering Research Center of Robot Visual Perception and Control Technology,Hunan University,Changsha 410082,China

School of Robotics,Hunan University,Changsha 410082,China

College of Electrical and Information Engineering,Hunan University,Changsha 410082,China

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基金：

National Key Research and Development Program of ChinaNational Key Research and Development Program of ChinaNational Key Research and Development Program of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaMajor Research Plan of the National Natural Science Foundation of ChinaNewton International Fellowships 2022 funded by the Royal Society,UKHunan Leading Talent of Technological InnovationHunan Science Fund for Distinguished Young ScholarsHunan Key Research and Development ProgramHunan Key Research and Development ProgramChangsha Science and Technology Major ProjectNatural Science Foundation of Hunan ProvinceNatural Science Foundation of Hunan ProvinceScience and Technology Innovation Program of Hunan ProvinceJoint Open Foundation of the State Key Laboratory of RoboticsChina University Industry-University-Research Innovation Fund

项目编号：

2021ZD01145032022YFB47018002021YFB171470062273098620278106197107162133005622731386210314092148204NIF\R1\2210892022RC30632021JJ100252021GK40112022GK2011kh20030262021JJ200292021JJ401242021RC30602021-KF-22-172020HYA06006

出版年：

2024

DOI：

10.1016/j.eng.2023.05.017

工程(英文)

CSTPCDEI

ISSN：2095-8099

年,卷(期)：2024.35(4)