Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with Uncertainty

• Autor(a) principal: Islam, Shafiqul
• Data de Publicação: 2020
• Outros Autores: Mukhtar, Husameldin, Dias, Jorge
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10316/106684; https://doi.org/10.3390/robotics9040103
• topic: unmanned aerial vehicle (UAV); visual tracking system; control; multiresolution wavelet transform (MWT)

This paper presents a wavelet-based image guided tracking control system for unmanned multirotor aerial vehicle system with the presence of uncertainty. The visual signals for the visual tracking process are developed by using wavelet coefficients. The design uses a multiresolution interaction matrix with half and details images to relate the time-variation of wavelet coefficients with the velocity of the aerial vehicle and controller. The proposed design is evaluated on a virtual quadrotor aerial vehicle system to demonstrate the effectiveness of the wavelet-based visual tracking system without using an image processing unit in the presence of uncertainty. In contrast to the classical visual tracking technique, the wavelet-based method does not require an image processing task.