Abstract
This paper proposes a vision-based, closed-loop target-following system for quadrotors. The system consists of a vision-based target detection algorithm that uses the color and image moment of a given target. Flight control commands are directly generated based on the offset of the target from the image frame center. The image processing and control algorithms have been implemented on a latest tablet computer, which is capable of running those algorithms in real time. The proposed system was demonstrated using a commercially available quadrotor platform equipped with a forward-facing camera. Experiments and their analyses showed satisfactory target following performance.
Original language | English |
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Pages (from-to) | 85-95 |
Number of pages | 11 |
Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
Volume | 74 |
Issue number | 1-2 |
DOIs | |
State | Published - Apr 2014 |
Keywords
- Quadrotor
- Tablet PC
- Target following