基于视觉的四旋翼直升机目标跟踪技术研究

摘要

It is difficult for quad-rotor helicopter to track a target. In this paper, we had a research on the quad-rotor helicopter tracking target based on the computer vision. Firstly, a dynamic model of quadrotor was developed, and a PID controller was designed based on the model. Secondly, the hardware of quad-rotor helicopter was designed, including flight control module and onboard vision module. Finally, the software of quad-rotor helicopter based on computer vision was designed, which made the target tracking based on computer vision was completed. The feasibility was verified during lots of experiments. The results indicated that our technology could be well applied to track target for the quad-rotor helicopter.%针对四旋翼直升机目标跟踪这一问题，提出并设计了一套基于视觉的四旋翼直升机系统和方法。首先，在Matlab中对四旋翼直升机建模仿真，使用经典PID控制算法设计位置回路和姿态回路；其次，设计了一套基于视觉的四旋翼直升机硬件系统，主要包括飞行控制模块、机载视觉模块等；最后，针对上述硬件，设计了四旋翼直升机的软件系统，实现了基于视觉的目标识别及跟踪控制方法。通过多次飞行实验验证了该方法的可行性，表明该方法可以很好的解决多旋翼直升机目标跟踪这一问题。