Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with Uncertainty
This paper presents a wavelet-based image guided tracking control system for unmanned multirotor aerial vehicle system with the presence of uncertainty. The visual signals for the visual tracking process are developed by using wavelet coefficients. The design uses a multiresolution interaction matri...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-12-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/9/4/103 |
| _version_ | 1797546010509049856 |
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| author | Shafiqul Islam Husameldin Mukhtar Jorge Dias |
| author_facet | Shafiqul Islam Husameldin Mukhtar Jorge Dias |
| author_sort | Shafiqul Islam |
| collection | DOAJ |
| description | This paper presents a wavelet-based image guided tracking control system for unmanned multirotor aerial vehicle system with the presence of uncertainty. The visual signals for the visual tracking process are developed by using wavelet coefficients. The design uses a multiresolution interaction matrix with half and details images to relate the time-variation of wavelet coefficients with the velocity of the aerial vehicle and controller. The proposed design is evaluated on a virtual quadrotor aerial vehicle system to demonstrate the effectiveness of the wavelet-based visual tracking system without using an image processing unit in the presence of uncertainty. In contrast to the classical visual tracking technique, the wavelet-based method does not require an image processing task. |
| first_indexed | 2024-03-10T14:24:01Z |
| format | Article |
| id | doaj.art-296cb62b171a49ec90be59729585031b |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T14:24:01Z |
| publishDate | 2020-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-296cb62b171a49ec90be59729585031b2023-11-20T23:08:25ZengMDPI AGRobotics2218-65812020-12-019410310.3390/robotics9040103Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with UncertaintyShafiqul Islam0Husameldin Mukhtar1Jorge Dias2Department of Computer Science and Engineering, NCF-235 Academic Science Complex, 1 Drexel Drive, Xavier University of Louisiana, New Orleans, LA 70125, USADepartment of Electrical Engineering, University of Dubai, Dubai 14143, UAEInstitute of Systems and Robotics, University of Coimbra, 3030-260 Coimbra, PortugalThis paper presents a wavelet-based image guided tracking control system for unmanned multirotor aerial vehicle system with the presence of uncertainty. The visual signals for the visual tracking process are developed by using wavelet coefficients. The design uses a multiresolution interaction matrix with half and details images to relate the time-variation of wavelet coefficients with the velocity of the aerial vehicle and controller. The proposed design is evaluated on a virtual quadrotor aerial vehicle system to demonstrate the effectiveness of the wavelet-based visual tracking system without using an image processing unit in the presence of uncertainty. In contrast to the classical visual tracking technique, the wavelet-based method does not require an image processing task.https://www.mdpi.com/2218-6581/9/4/103unmanned aerial vehicle (UAV)visual tracking systemcontrolmultiresolution wavelet transform (MWT) |
| spellingShingle | Shafiqul Islam Husameldin Mukhtar Jorge Dias Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with Uncertainty Robotics unmanned aerial vehicle (UAV) visual tracking system control multiresolution wavelet transform (MWT) |
| title | Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with Uncertainty |
| title_full | Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with Uncertainty |
| title_fullStr | Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with Uncertainty |
| title_full_unstemmed | Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with Uncertainty |
| title_short | Image Guided Visual Tracking Control System for Unmanned Multirotor Aerial Vehicle with Uncertainty |
| title_sort | image guided visual tracking control system for unmanned multirotor aerial vehicle with uncertainty |
| topic | unmanned aerial vehicle (UAV) visual tracking system control multiresolution wavelet transform (MWT) |
| url | https://www.mdpi.com/2218-6581/9/4/103 |
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