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author:

Chen, Yanjie (Chen, Yanjie.) [1] (Scholars:陈彦杰) | Wu, Yangning (Wu, Yangning.) [2] | Lan, Limin (Lan, Limin.) [3] | Zhong, Hang (Zhong, Hang.) [4] | Miao, Zhiqiang (Miao, Zhiqiang.) [5] | Zhang, Hui (Zhang, Hui.) [6] | Wang, Yaonan (Wang, Yaonan.) [7]

Indexed by:

EI Scopus SCIE CSCD

Abstract:

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 proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance 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. (c) 2023 THE AUTHORS. Published by Elsevier LTD on behalf of Chinese Academy of Engineering and Higher Education Press Limited Company. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

Keyword:

Target tracking Unmanned aerial vehicle Velocity observer Visual servoing

Community:

  • [ 1 ] [Chen, Yanjie]Fuzhou Univ, Sch Mech Engn & Automat, Fuzhou 350108, Peoples R China
  • [ 2 ] [Wu, Yangning]Fuzhou Univ, Sch Mech Engn & Automat, Fuzhou 350108, Peoples R China
  • [ 3 ] [Lan, Limin]Fuzhou Univ, Sch Mech Engn & Automat, Fuzhou 350108, Peoples R China
  • [ 4 ] [Chen, Yanjie]Aberystwyth Univ, Dept Comp Sci, Aberystwyth SY23 3DB, Wales
  • [ 5 ] [Zhong, Hang]Hunan Univ, Sch Robot, Changsha 410082, Peoples R China
  • [ 6 ] [Zhang, Hui]Hunan Univ, Sch Robot, Changsha 410082, Peoples R China
  • [ 7 ] [Miao, Zhiqiang]Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China
  • [ 8 ] [Wang, Yaonan]Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China
  • [ 9 ] [Chen, Yanjie]Hunan Univ, Natl Engn Res Ctr Robot Visual Percept & Control, Changsha 410082, Peoples R China
  • [ 10 ] [Zhong, Hang]Hunan Univ, Natl Engn Res Ctr Robot Visual Percept & Control, Changsha 410082, Peoples R China
  • [ 11 ] [Miao, Zhiqiang]Hunan Univ, Natl Engn Res Ctr Robot Visual Percept & Control, Changsha 410082, Peoples R China
  • [ 12 ] [Zhang, Hui]Hunan Univ, Natl Engn Res Ctr Robot Visual Percept & Control, Changsha 410082, Peoples R China
  • [ 13 ] [Wang, Yaonan]Hunan Univ, Natl Engn Res Ctr Robot Visual Percept & Control, Changsha 410082, Peoples R China

Reprint 's Address:

  • [Wang, Yaonan]Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China;;[Wang, Yaonan]Hunan Univ, Natl Engn Res Ctr Robot Visual Percept & Control, Changsha 410082, Peoples R China;;

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Source :

ENGINEERING

ISSN: 2095-8099

Year: 2024

Volume: 35

Page: 74-85

1 0 . 1 0 0

JCR@2023

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count:

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 2

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