IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Implementation of Automatic Target Tracking System for Multirotor UAVs Using Velocity Command Based PID controller

속도 명령 기반 PID 제어기를 이용한 멀티로터 무인항공기의 표적 자동 추종 시스템 구현

  • Received : 2018.08.16
  • Accepted : 2018.09.08
  • Published : 2018.12.31
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Abstract

This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.

Keywords

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그림 1. 쿼드로터 좌표 시스템 Fig. 1 Coordinate system for quadrotor

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그림 2. 쿼드로터 무인항공기의 구성 Fig. 2 Configuration of our quadrotor UAV

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그림 3. 쿼드로터 무인항공기의 블록 다이어그램 Fig. 3 Block diagram of our quadrotor UAV

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그림 4. 속도 명령 제어시스템의 블록 다이어그램 Fig. 4 Block diagram of the velocity command control system

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그림 5. 실험에 사용된 6 × 6 아르코 마커 패턴 Fig. 5 Employed pattern of 6 × 6 Aruco marker

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그림 6. 사용된 마커 사양 및 거리추정 실험 결과 Fig. 6 Specification of the employed Aruco marker and a distance estimation result

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그림 7. 쿼드로터 무인기와 마커의 상대위치 상면도 Fig. 7 Top view of quadrotor UAV and marker

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그림 8. 쿼드로터 무인기와 마커의 상대위치 측면도 Fig. 8 Side view of quadrotor UAV and marker

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그림 9. 시험비행에 사용된 자동차 주행 트랙 Fig. 9 Vehicle track used for test flight

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그림 11. 3차원 표적 추종 궤적 Fig. 11 Three dimensional trajectory moving marker tracking result

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그림 12. 움직이는 표적 추종 시험비행 결과 Fig. 12 Flight test result of the moving target tracking

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그림 13. 시간에 따른 상대위치 및 속도 정보 Fig. 13 Time histories of the relative position and velocity information

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그림 10. 2차원 표적 추종 궤적 Fig. 10 Two dimensional trajectory moving marker tracking result

표 1. 쿼드로터 UAV의 사양 Table 1. Specification of our quadrotor UAV

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