비전기반 드론 추적 제어 시스템

초록

Unmanned aerial vehicles (UAVs) are widely utilized throughout various fields. The swiftness of UAVs enables them to track moving objects by processing their vision data. Tracking a ground object is achieveable with relatively simple control due to the wide field of view of the UAV of the ground acquired from above and the gradual movement of the target object. However, tracking objects with nimble and unexpected movements such as UAVs is difficult. The tracking UAV needs to be controlled swiftly according to the sudden movement of the target object. Abrupt movement of the target object could also provoke errors in visual tracking. Thus, we developed a new tracking system for UAVs that enables them to track another UAV. A state-of-the-art visual detector YOLO-V5 was adopted for visual tracking, and different control schemes were applied to track the target UAV. This system was verified by real flight experiments with a micro air vehicle (DJI TELLO).

키워드