Abstract
This paper presents a novel approach for tracking deformable contour targets using Unmanned Aerial Vehicles (UAVs). The proposed scheme combines image moments descriptor and Event-Triggered (ET) Nonlinear Model Predictive Control (NMPC) for efficient and accurate tracking. The deformable contour model allows adaptation to the evolving target's shape, while the proposed event-triggered scheme achieves improved computational efficiency and extended flight duration while generating new control sequences for the UAV. Real-world experimental validation as well as a comparative simulation performance analysis validate the scheme, showcasing its robustness in handling complex scenarios. This approach holds promise for various applications, such as surveillance and autonomous navigation.
Original language | English (US) |
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Pages (from-to) | 1019-1026 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 9 |
Issue number | 2 |
DOIs | |
State | Published - Feb 1 2024 |
Keywords
- Visual servoing
- aerial systems: Perception and autonomy
- autonomous agents
ASJC Scopus subject areas
- Mechanical Engineering
- Control and Optimization
- Artificial Intelligence
- Human-Computer Interaction
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Biomedical Engineering
- Computer Science Applications