ANN design and implementation for real-time object tracking using quadrotor AR.Drone 2.0

摘要

This paper aims to use a visual-based control mechanism to control a quadrotor, which is in pursuit of a target. The non-linear nature of a quadrotor, on one hand, and the difficulty of obtaining an exact model for it, on the other hand, constitute two serious challenges in designing a controller for this UAV. A potential solution for such problems is the use of intelligent control methods such as those that rely on ANNs. A novel technique based on ANNs is proposed in this work for the identification and tracking of targets. Multilayer perceptron is used for this purpose. Experimental results and simulations are shown to demonstrate the feasibility of the proposed method for target tracking.