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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)
Department机器人学研究室
Source PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
ISSN2168-2216
2018
Pages1-11
Indexed ByEI
EI Accession number20181104899440
Contribution Rank1
Funding OrganizationNational 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
KeywordPath Planning Quadrotor Unmanned Aerial Vehicle (Uav) Real-time Target Tracking Unstructured Outdoor Scenes
AbstractA 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
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21577
Collection机器人学研究室
Corresponding AuthorLiu, Yisha
Affiliation1.Information Science and Technology College, Dalian Maritime University, Dalian 116026, China
2.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China
4.School of Computer Science and Electronic Engineering, University of Essex, Colchester CO4 3SQ, U.K.
Recommended Citation
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,2018:1-11.
APA Liu, Yisha,Wang, Qunxiang,Hu, Huosheng,&He YQ.(2018).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,1-11.
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 (2018):1-11.
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