一种小型四轴飞行器目标跟踪控制算法

doi:10.19665/j.issn1001-2400.2021.05.015

Abstract

Abstract:

In order to improve the real-time performance and stability of target tracking by using the video frames transmitted from the monocular camera of a quad-rotor,an algorithm for video frame preprocessing based on the attention model and attitude adjustment of the quad-rotor based on feedback control is proposed.First,the attention model is used to preprocess the video images collected by the quad-rotor,and some frames which contribute more to the tracking results are selected.Second,the error of feedback control is obtained by calculating the position deviation and area deviation of the pixel points of the marquee.Finally,the error of feedback control is converted into the numerical change in motor speed of the four-axis aircraft and the motor speed control instruction are sent to the aircraft,which can make attitude adjustment of the yaw and forward and backward movement in time.The actual flight verification is executed on the Tello aircraft platform,andexperimental results shows that the target tracking algorithm proposed in this paper improves both the real-time performance of image processing and the flight stability of aircraft.Therefore,the algorithm proposed in this paper can provide a powerful technical support for the image processing application of quad-rotor aircraft.

Key words: quad-rotor helicopter, target tracking, feedback control, attention model, attitude adjustment

CLC Number:

TP391.41

GU Zhaojun,CHEN Hui,WANG Jialiang,GAO Bing. Target tracking control algorithm for small size quad-rotor helicopter[J].Journal of Xidian University, 2021, 48(5): 117-127.

Figures/Tables 19

References 22

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模型	处理图片帧数量	单位处理时间/s	总处理时间/s
YOLOV4+KCF模型(CPU)	50	0.326	16.30
YOLOV4+KCF-tiny模型(CPU)	50	0.273	13.65
YOLOV4+KCF-tiny模型(GPU)	50	0.015	0.75
文中基于注意力模型的目标检测跟踪算法(GPU)	6	0.015	0.09

Target tracking control algorithm for small size quad-rotor helicopter

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References 22

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接收帧数	1	50	100	300	500	1000
处理帧数	1	6	10	15	19	33
比例/%	100	12.0	10.0	5.0	3.8	3.3