A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes | |
Liu, Yisha; Wang, Qunxiang; Hu, Huosheng; He YQ(何玉庆) | |
刊名 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
2019 | |
卷号 | 49期号:11页码:2362-2372 |
关键词 | Path Planning Quadrotor Unmanned Aerial Vehicle (Uav) Real-time Target Tracking Unstructured Outdoor Scenes |
ISSN号 | 2168-2216 |
产权排序 | 1 |
英文摘要 | A quadrotor unmanned aerial vehicle (UAV) should have the ability to perform real-time target tracking and path planning simultaneously even when the target enters unstructured scenes, such as groves or forests. To accomplish this task, a novel system framework is designed and proposed to accomplish simultaneous moving target tracking and path planning by a quadrotor UAV with an onboard embedded computer, vision sensors, and a two-dimensional laser scanner. A support vector machine-based target screening algorithm is deployed to select the correct target from multiple candidates detected by single shot multibox detector. Furthermore, a new tracker named TLD-KCF is presented in this paper, in which a conditional scale adaptive algorithm is adopted to improve the tracking performance for a quadrotor UAV in cluttered outdoor environments. According to distance and position estimation for a moving target, our quadrotor UAV can acquire a control point to guide its fight. To reduce the computational burden, a fast path planning algorithm is proposed based on elliptical tangent model. A series of experiments are conducted on our quadrotor UAV platform DJI M100. Experimental video and comparison results among four kinds of target tracking algorithms are given to show the validity and practicality of the proposed approach. IEEE |
语种 | 英语 |
WOS记录号 | WOS:000501863500015 |
资助机构 | National Natural Science Foundation of China under Grant 61305128 and Grant U1608253, and in part by the State Key Laboratory of Robotics under Grant 2017-008 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/21577] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Liu, Yisha |
作者单位 | 1.School of Computer Science and Electronic Engineering, University of Essex, Colchester CO4 3SQ, U.K. 2.School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China 3.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.Information Science and Technology College, Dalian Maritime University, Dalian 116026, China |
推荐引用方式 GB/T 7714 | Liu, Yisha,Wang, Qunxiang,Hu, Huosheng,et al. A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2019,49(11):2362-2372. |
APA | Liu, Yisha,Wang, Qunxiang,Hu, Huosheng,&He YQ.(2019).A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes.IEEE Transactions on Systems, Man, and Cybernetics: Systems,49(11),2362-2372. |
MLA | Liu, Yisha,et al."A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes".IEEE Transactions on Systems, Man, and Cybernetics: Systems 49.11(2019):2362-2372. |
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