Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments

doi:10.1109/JAS.2020.1003530

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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
刊名	IEEE/CAA Journal of Automatica Sinica
	2021
卷号	8 期号:2 页码:344-360
关键词	Nano-scale quadrotor nonlinear control position-based visual servoing visual object tracking
ISSN号	2329-9266
DOI	10.1109/JAS.2020.1003530
英文摘要	There 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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43917]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 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.