Research On Capture And Tracking Of Dynamic Target For UAV

The study of UAV capture and tracking for dynamic target is an important application research related to multi-subject,the relevant theoretical knowledge includes capture and tracking algorithm,image processing,UAV control,software and hardware system building.This research based on a four rotor aircraft,the main research is that the UAV does not depend on GPS to realize capture and tracking of dynamic target and relevant modeling and application verification,the methods and algorithms for the accuracy,stability,and real time of the motion target capture and tracking are proposed.This paper is based on National Natural Science Foundation of China(61573009)"online Verification of vehicle decision Safety based on formalization and Ad-Hoc method".The main research work is as follows:1.According to the advantages and disadvantages of domestic and foreign related research,the basic framework and methods of this study are determined,and the basic research problems are analyzed and expanded,and the solutions are put forward.2.Built the software and hardware system for research,and realize the matching of hardware and software according to actual requirements.For UAV hardware system,mainly study the performance and control mode.Using c++ and a small number of Python programming set up a software system under the ROS environment,so that convenient and effective software kernel is constructed.3.Researched the capture method of dynamic target,constructed the frame of dynamic target capture,and putted forward the IBVS control method based on PID control.By calculating image segmentation threshold get the gray-level histogram,estimating the target position on the basis of gray image to reduce amount of calculation,finally the target extracted by using Harris corner feature and then accomplish capture.4.Compared the advantages and disadvantages of many tracking algorithms,the TLD tracking algorithm is selected.Based on the TLD algorithm and IBVS control,the dynamic target tracking is realized.In addition,the tracking flow and frameworkbased on UAV are established,and the flight control is realized by the sensor of UAV hardware,and the man-machine interactive page is designed to realize the docking between UAV flight control and computer operation.The real-time interaction and security between UAV and operator are ensured.Through experimental verification,the dynamic target can be captured and tracked,and the research target can be basically completed.The capture accuracy of dynamic target is high,the operation rate is fast,the target tracking is stable and the real time is good.