Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic Object Tracking of a Quad-rotor with Image Processing and an Extended Kalman Filter

영상처리와 확장칼만필터를 이용한 쿼드로터의 동적 물체 추종

  • Kim, Ki-jung (Department Interdisciplinary Program in Robotics, Pusan National University) ;
  • Yu, Ho-Yun (Depart. of Electrical Engineering, Pusan National University) ;
  • Lee, Jangmyung (Depart. of Electrical Engineering, Pusan National University)
  • 김기정 (부산대학교 로봇 협동과정) ;
  • 유호윤 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2014.12.13
  • Accepted : 2015.02.16
  • Published : 2015.07.01
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Abstract

This paper proposes a new strategy for a quad-rotor to track a moving object efficiently by using image processing and an extended Kalman filter. The goal of path planning for the quad-rotor is to design an optimal path from the start point to the destination point. To lengthen the freight time of the quad-rotor, an optimal path is required to reduce the energy consumption. To track a moving object, the mark signed on the moving object has been detected by a camera mounted first on the quad-rotor. The center coordinates of the mark and its area are calculated through the blob analysis which is one type of image processing. The mark coordinates are utilized to obtain information on the motion direction and the area of the mark is utilized to recognize whether the object moves backward or forward from the camera on the quad-rotor. In addition, an extended Kalman filter has been applied to predict the direction and speed of the dynamically moving object. Through these schemes, it is aimed that the quad-rotor can track the dynamic object efficiently in terms of flight distance and time. Through the two different route freights of the quad-rotor, the performance of the proposed system has been demonstrated.

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References

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