Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTags
Using the characteristics of unmanned aerial vehicle/unmanned ground vehicle, heterogeneous systems can accomplish many complex tasks cooperatively. Moving target tracking is an important basis for the relative positioning and formation maintenance of heterogeneous cooperative systems. This paper fi...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-03-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/0020294019889074 |
| _version_ | 1828342959159902208 |
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| author | Xiao Liang Guodong Chen Shirou Zhao Yiwei Xiu |
| author_facet | Xiao Liang Guodong Chen Shirou Zhao Yiwei Xiu |
| author_sort | Xiao Liang |
| collection | DOAJ |
| description | Using the characteristics of unmanned aerial vehicle/unmanned ground vehicle, heterogeneous systems can accomplish many complex tasks cooperatively. Moving target tracking is an important basis for the relative positioning and formation maintenance of heterogeneous cooperative systems. This paper first introduces the unmanned aerial vehicle/unmanned ground vehicle collaborative tracking task and heterogeneous system. In order to maintain the original stability of unmanned aerial vehicle, a control method based on SBUS protocol to simulate remote control is proposed. About unmanned ground vehicle with Mecanum wheel, a detailed description of control method is designed. For the problems of real-time performance and occlusion, a tracking scheme based on AprilTag identification is studied. The scheme tracks the Tag target in the case of no occlusion. When occlusion occurs, the scheme tracks the color feature around the Tag. The accuracy of the tracking algorithm and the problem of occlusion are greatly improved. Finally, the scheme is applied to the heterogeneous systems. Simulation and experimental results show that the proposed method is suitable for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system to perform the collaborative tracking task. |
| first_indexed | 2024-04-13T23:36:25Z |
| format | Article |
| id | doaj.art-a203337f758c4a3eb3e0125d325c6e71 |
| institution | Directory Open Access Journal |
| issn | 0020-2940 |
| language | English |
| last_indexed | 2024-04-13T23:36:25Z |
| publishDate | 2020-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj.art-a203337f758c4a3eb3e0125d325c6e712022-12-22T02:24:44ZengSAGE PublishingMeasurement + Control0020-29402020-03-015310.1177/0020294019889074Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTagsXiao Liang0Guodong Chen1Shirou Zhao2Yiwei Xiu3Liaoning I/O General Aeronautics and Astronautics Technology Co. Ltd., Shenyang, ChinaLiaoning I/O General Aeronautics and Astronautics Technology Co. Ltd., Shenyang, ChinaSchool of Automation, Shenyang Aerospace University, Shenyang, ChinaSchool of Automation, Shenyang Aerospace University, Shenyang, ChinaUsing the characteristics of unmanned aerial vehicle/unmanned ground vehicle, heterogeneous systems can accomplish many complex tasks cooperatively. Moving target tracking is an important basis for the relative positioning and formation maintenance of heterogeneous cooperative systems. This paper first introduces the unmanned aerial vehicle/unmanned ground vehicle collaborative tracking task and heterogeneous system. In order to maintain the original stability of unmanned aerial vehicle, a control method based on SBUS protocol to simulate remote control is proposed. About unmanned ground vehicle with Mecanum wheel, a detailed description of control method is designed. For the problems of real-time performance and occlusion, a tracking scheme based on AprilTag identification is studied. The scheme tracks the Tag target in the case of no occlusion. When occlusion occurs, the scheme tracks the color feature around the Tag. The accuracy of the tracking algorithm and the problem of occlusion are greatly improved. Finally, the scheme is applied to the heterogeneous systems. Simulation and experimental results show that the proposed method is suitable for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system to perform the collaborative tracking task.https://doi.org/10.1177/0020294019889074 |
| spellingShingle | Xiao Liang Guodong Chen Shirou Zhao Yiwei Xiu Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTags Measurement + Control |
| title | Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTags |
| title_full | Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTags |
| title_fullStr | Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTags |
| title_full_unstemmed | Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTags |
| title_short | Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTags |
| title_sort | moving target tracking method for unmanned aerial vehicle unmanned ground vehicle heterogeneous system based on apriltags |
| url | https://doi.org/10.1177/0020294019889074 |
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