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Autonomous feature following for visual surveillance using a small unmanned aerial vehicle with gimbaled camera system
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Journal Article
Autonomous feature following for visual surveillance using a small unmanned aerial vehicle with gimbaled camera system
2010
Overview
This paper represents the development of feature following control and distributed navigation algorithms for visual surveillance using a small unmanned aerial vehicle equipped with a low-cost imaging sensor unit. An efficient map-based feature generation and following control algorithm is developed to make an onboard imaging sensor to track a target. An efficient navigation system is also designed for real-time position and velocity estimates of the unmanned aircraft, which is used as inputs for the path following controller. The performance of the proposed autonomous path following capability with a stabilized gimbaled camera onboard a small unmanned aerial robot is demonstrated through flight tests with application to target tracking for real-time visual surveillance.
Publisher
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers,Springer Nature B.V,제어·로봇·시스템학회
