用视角角设计无人机视觉追踪算法，无需知道目标大小
Vision-Based Multirotor Control for Spherical Target Tracking: A Bearing-Angle Approach
- 将摄像头测得的两个视角转为视角角对，构建新坐标系
- 基于目标匀加速模型，实现对未知半径球体的稳定追踪
- 适合无人机视觉导航、自主追踪等场景
本文针对多旋翼无人机在未知半径球形目标追踪中的视觉伺服控制问题。首先，将摄像头提供的两个视角测量值转换为视角角对；随后，在新坐标系中利用该角度信息量化与目标的相对距离，并建立系统动力学模型。基于此几何特性，设计了一种自适应非线性控制算法，假设目标遵循恒定加速度运动模型。仿真结果验证了所提算法的有效性。
原文摘要 · Abstract (English)
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing measurements provided by a camera sensor into a bearing-angle pair. We then use this information to derive the system's dynamics in a new set of coordinates, where the angle measurement is used to quantify a relative distance to the target. Building on this system representation, we design an adaptive nonlinear control algorithm that takes advantage of the properties of the new system geometry and assumes that the target follows a constant acceleration model. Simulation results illustrate the performance of the proposed control algorithm.
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