Visual-based Tracking and Control Algorithm Design for Quadcopter UAV

The problems of tracking moving target of quad-rotor UAV involve target tracking in image sequence and flight control of UAV. Because Camshift algorithm is easily disturbed by background with similar color and has poor robustness to occlusion interference when tracking objects in image sequence. A new tracking algorithm based on Kalman filter and Camshift algorithm with multi-feature fusion is proposed. On this basis, the horizontal displacement between the target and the UAV is calculated as the control input, and a position-attitude outer-inner loop controller is designed to ensure the target near the center of view of the camera in order to track the target efficiently. Experimental and simulation results verify the performance of the algorithm.