Open Access
ARTICLE
The Design of a TLD and Fuzzy-PID Controller Based on the Autonomous Tracking System for Quadrotor Drones
Pi-Yun Chen, Guan-Yu Chen*
Department of Electrical Engineering, National Chin-Yi University of Technology, Taiwan
* Corresponding Author: Pi-Yun Chen,
Intelligent Automation & Soft Computing 2020, 26(3), 489-500. https://doi.org/10.32604/iasc.2020.013925
Abstract
The objective of this paper is to design a new Quadrotor Autonomous Following
System, and the main three contents are as follows: Object tracking, quadrotor
attitude determination and the controller. The image tracking portion performs
object detection and keeps tracking by way of the Tracking-Learning-Detection
(TLD), and gets the information of the target motion estimation positions. The
attitude determination of the Quadrotor has adopted the Inertial Navigation
System and sensors of the accelerometer, gyroscope and electronic compass,
etc. for retrieving the information. The Kalman filter is also utilized for
estimating the current values in order to reduce external interference, improve
the accuracy, and obtain the current posture of the Quadrotor. As for the
control method, the mathematical modeling on the Quadrotor is performed first
so that the Quadrotor can obtain the correct posture through the three-axis
compensations, and then the fuzzy-PID controller may obtain the three-axis
following angles for output to execute the commands and track the users.
Finally the feasibility of this method is verified by using the flying software
simulation and tangible flight experiments.
Keywords
Cite This Article
P. Chen and G. Chen, "The design of a tld and fuzzy-pid controller based on the autonomous tracking system for quadrotor drones,"
Intelligent Automation & Soft Computing, vol. 26, no.3, pp. 489–500, 2020. https://doi.org/10.32604/iasc.2020.013925
Citations