Autonomous moving target-tracking for a UAV quadcopter based on fuzzy-PI.

Rabah, Mohammed; Rohan, Ali; Mohamed, Sherif A.S.; Kim, Sung-Ho

Abstract

Moving target-tracking is an attractive application for quadcopters and a very challenging, complicated field of research due to the complex dynamics of a quadcopter and the varying speed of the moving target with time. For this reason, various control algorithms have been developed to track a moving target using a camera. In this paper, a Fuzzy-PI controller is developed to adjust the parameters of the PI controller using the position and change of position data as input. The proposed controller is compared to a gain-scheduled PID controller instead of the typical PID controller. To verify the performance of the developed system and distinguish which one has better performance, several experiments of a quadcopter tracking a moving target are conducted under the varying speed of the moving target, indoor and outdoor and during day and night. The obtained results indicate that the proposed controller works well for tracking a moving target under different scenarios, especially during night.

Citation

RABAH, M., ROHAN, A., MOHAMED, S.A.S. and KIM, S.-H. 2019. Autonomous moving target-tracking for a UAV quadcopter based on fuzzy-PI. IEEE access [online] 7, pages 38407-38419. Available from: https://doi.org/10.1109/ACCESS.2019.2906345

• Journal Article Type: Article
• Acceptance Date: Mar 13, 2019
• Online Publication Date: Mar 20, 2019
• Publication Date: Dec 31, 2019
• Deposit Date: Jul 18, 2023
• Publicly Available Date: Jul 18, 2023
• Journal: IEEE access
• Electronic ISSN: 2169-3536
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Peer Reviewed: Peer Reviewed
• Volume: 7
• Pages: 38407-38419
• DOI: https://doi.org/10.1109/ACCESS.2019.2906345
• Keywords: Target-tracking; Fuzzy-PI; Gain-scheduled PID; Quadcopter; MATLAB/SIMULINK
• Public URL: https://rgu-repository.worktribe.com/output/1982322