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The Design of a TLD and Fuzzy-PID Controller based on the Autonomous Tracking System for Quadrotor Drones


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Abstract

The objective of this paper is to design a new Quadrotor Autonomous Following System, and the main three contents are as follows: Object tracking, quadrotor attitude determination and the controller. The image tracking portion performs object detection and keeps tracking by way of the Tracking-Learning-Detection (TLD), and gets the information of the target motion estimation positions. The attitude determination of the Quadrotor has adopted the Inertial Navigation System and sensors of the accelerometer, gyroscope and electronic compass, etc. for retrieving the information. The Kalman filter is also utilized for estimating the current values in order to reduce external interference, improve the accuracy, and obtain the current posture of the Quadrotor. As for the control method, the mathematical modeling on the Quadrotor is performed first so that the Quadrotor can obtain the correct posture through the three-axis compensations, and then the fuzzy-PID controller may obtain the three-axis following angles for output to execute the commands and track the users. Finally the feasibility of this method is verified by using the flying software simulation and tangible flight experiments.


Keywords


Pages

Total Pages: 12

DOI
10.31209/2019.100000161


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Published

Online Article

JOURNAL INFORMATION


ISSN PRINT: 1079-8587
ISSN ONLINE: 2326-005X
DOI PREFIX: 10.31209
PREVIOUS DOI PREFIX (with T&F): 10.1080/10798587
InCites Journal IMPACT FACTOR (JIF) Data

2018  0.790
2017  0.652
2016  0.644

Scimago Journal and Country Rank (SJR) Data

TWO YEAR CITATIONS PER DOCUMENT:
2018  0.993
2017  0.655
2016  0.660
SJR: "The two years line is equivalent to journal impact factor ™ (Thomson Reuters) metric."





Journal: 1995-Present


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