TY - GEN
T1 - A Deep Reinforcement Learning Visual Servoing Control Strategy for Target Tracking Using a Multirotor UAV
AU - Mitakidis, Andreas
AU - Aspragkathos, Sotirios N.
AU - Panetsos, Fotis
AU - Karras, George C.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this work, a deep Reinforcement Learning control scheme is developed in order to execute autonomous tracking of an unmanned ground vehicle (UGV) with a multirotor unmanned aerial vehicle (UAV). The UAV is equipped with a downward looking camera and the detection of the target UGV is achieved through a convolutional neural network (CNN). The deep RL control policy is deployed as a cascade position controller, which commands the inner attitude controller of the autopilot, and achieves the following of the UGV despite the aggressive maneuvers of the target. The efficacy of the proposed framework is demonstrated via a set of outdoor experiments using an octocopter flying above the ground vehicle.
AB - In this work, a deep Reinforcement Learning control scheme is developed in order to execute autonomous tracking of an unmanned ground vehicle (UGV) with a multirotor unmanned aerial vehicle (UAV). The UAV is equipped with a downward looking camera and the detection of the target UGV is achieved through a convolutional neural network (CNN). The deep RL control policy is deployed as a cascade position controller, which commands the inner attitude controller of the autopilot, and achieves the following of the UGV despite the aggressive maneuvers of the target. The efficacy of the proposed framework is demonstrated via a set of outdoor experiments using an octocopter flying above the ground vehicle.
KW - reinforcement learning
KW - target tracking
KW - visual servoing
UR - http://www.scopus.com/inward/record.url?scp=85161289739&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85161289739&partnerID=8YFLogxK
U2 - 10.1109/ICARA56516.2023.10125971
DO - 10.1109/ICARA56516.2023.10125971
M3 - Conference contribution
AN - SCOPUS:85161289739
T3 - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
SP - 219
EP - 224
BT - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Automation, Robotics and Applications, ICARA 2023
Y2 - 10 February 2023 through 12 February 2023
ER -