基于线性拟合改良视觉伺服的无人机跟踪控制算法

Improved visual servo-based UAV tracking control algorithm based on linear fitting

针对传统视觉伺服(IBVS)无人机跟随系统精度低、滞后性、运动不稳定、脱离后难再定位等问题,提出一种通过线性拟合预测目标的改良视觉伺服控制算法,使得整套系统稳定性更好,准确性也更高,运动不再抖动,跟随位置效果更好,快速性得到提高,滞后问题得以改善。对从视觉获得的定位坐标进行线性拟合,根据线性拟合的目标运动轨迹,计算下一步目标速度、加速度,实现预测目标下一时刻位置信息。对自身无人机做预测飞行,消除因采集信号、计算处理导致无人机滞后于目标的飞行,实现精度更高的跟随。

Aiming at the problems of low accuracy,hysteresis,unstable motion and difficult repositioning after separation of the traditional visual servo(IBVS)UAV following system,this paper proposes an improved visual servo control algorithm that predicts the target through linear fitting,which makes the whole system more stable,the accuracy is also higher,the movement is no longer jittery,the following position effect is better,the quickness is improved,and the lag problem will be improved.The positioning coordinates obtained from vision will be linearly fitted,and then the next target speed and acceleration will be calculated according to the linearly fitted target motion trajectory,so as to predict the next moment position information of the target,and predict the flight of its own UAV,which can eliminate the flight of the UAV lagging behind the target due to the acquisition of signals and calculation processing,and achieve higherprecision follow-up.