Vision-Based Detection and Tracking of a Mobile Ground Target Using a Fixed-Wing UAV

Abstract

This paper presents a framework for tracking a mobile ground target (MGT) using a fixed-wing unmanned aerial vehicle (UAV). Challenges from pure theories to practical applications, including varying illumination, computational limits and a lack of clarity are considered. The procedure consists of four steps, namely: target detection, target localization, states estimation and UAV guidance. Firstly, the MGT in the wild is separated from the background using a Laplacian operator-based method. Next, the MGT is located by performing coordinate transformations with the assumption that the altitude of the ground is invariant and known. Afterwards, a Kalman filter is used to estimate the location and velocity of the MGT. Finally, a modified guidance law is developed to guide the UAV to circle and track the MGT. The performance of our framework is validated by simulations and a number of actual flight tests. The results indicate that the framework is effective and of low computational complexity, and in particular our modified guidance law can reduce the error of the tracking distance by about 75% in specified situations. With the proposed framework, such challenges caused by the actual system can be tackled effectively, and the fixed-wing UAV can track the MGT stably.

A Probabilistic Target Search Algorithm Based on Hierarchical Collaboration for Improving Rapidity of Drones

“…Liu et al [ 5 ], Wang et al [ 6 ], and Mejias et al [ 7 ] focused on image-processing-based target search methods, with that of Minaeian et al [ 8 ] being the most-recent study. In image-processing-based target search methods, a UAV performs the task of acquiring images of a target utilizing a camera sensor and storage device.…”

Design and development of an on-board autonomous visual tracking system for unmanned aerial vehicles

“…The ground-based system for UAV guidance computes the guidance command for the UAV motion (Wang et al 2014;Peliti et al 2012), which is then sent to the autopilot through the RF link.…”

“…and will steer the SUAV in the desired path. The existing AVTS is controlled by the ground control station (GCS), which receives the video frames from the onboard SUAV camera and where an operator can analyze and send the guidance commands to the SUAV via an RF link in order to track the GMT continuously (Prince 2004;Beard et al 2005;Tay 2006;Theodorakopoulos, Lacroix 2008;El-Kalubi et al 2011;Regina 2011;Qadir et al 2011;Xin et al 2011;Peliti et al 2012;Wang et al 2014;Chuan 2009). Manual visual tracking software requires a lot of time for the communication between the operator and the SUAV.…”

UAV autonomous path optimization simulation based on radar tracking prediction

“…With the development of UAV technology, UAVs have achieved a wide application in the field of military and civil aviation remote sensing, communications relay, and so on [1]. At the same time, with the increase of the UAV payload and the improvement of the radar miniaturization technology, the UAV radar has gradually become an important part of the UAV load.…”