Quadrotor UAV Guidence For Ground Moving Target Tracking
سال انتشار: 1395
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 298
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شناسه ملی سند علمی:
JR_JACET-2-1_005
تاریخ نمایه سازی: 18 تیر 1398
چکیده مقاله:
The studies in aerial vehicles modeling and control have been increased rapidly recently. In this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. In this paper the UAV plays the role of a virtual leader for the UGVs. The system consists of a vision- based target detection algorithm that uses the color and image moment of a given target. The modeling of the vertical take off and landing vehicle will be described by using Euler - Newton equations. All of flight controller commands are directly generated based on the offset of the target from the image frame. The image processing and intelligent control algorithms such a Kalman filter and so on have been implemented on a latest computer. Matlab Simulink software has been used to test, analyze and compare the performance of the controllers in simulations .
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نویسندگان
Ehsan Abbasi
School of Mechanical Engineering,University of Tehran,Tehran,Iran