Unmanned aerial vehicle target tracking method and system based on biological visual inspiration

Abstract

The invention discloses an unmanned aerial vehicle target tracking method and system based on biological visual inspiration, which are inspired by how organisms guide and control most of purposeful movement of the organisms, and can finish perception, planning and control of an unmanned aerial vehicle in a three-dimensional space and a time scale only by utilizing arrival time information expressed by Tau variables. The method comprises the steps of solving arrival time of the unmanned aerial vehicle and a target from a target image according to an adjacent inter-frame light intensity invariant hypothesis; adopting a Tau guiding strategy, and generating an expected space-time track for any relative speed between the unmanned aerial vehicle and the target; adopting a Tau controller to control the unmanned aerial vehicle to track the target. Only a monocular camera is used for estimating the arrival time to serve as the information amount, and the requirement for a sensor is reduced; space-time track tracking is realized for any initial relative speed, so that the application range of a Tau track generation strategy is expanded; a set of unmanned aerial vehicle target tracking systemonly using Tau as information is completed.

Description

technical field [0001] The invention relates to the fields of biological vision and flight control, in particular to a method and system for tracking a target of an unmanned aerial vehicle inspired by biological vision. Background technique [0002] In recent years, the small UAV market dominated by quadrotor UAVs has ushered in a blowout development. In order to realize the application of UAVs in various fields, UAVs need to have a controllable arrival space from any initial position. Capability of arbitrary 3D points. In the current research content, the method based on spatial information is mainly used, and the speed or position of the target obtained by the position sensor is used as the control input to guide the movement of the UAV. However, when biologists how to guide their purposeful movement of organisms, such as seabird predation, drivers braking, etc., they proposed that organisms guide their movement through optical variables called arrival time. David Lee pro...

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Problems solved by technology

[0003] However, the research on UAV systems using biological heuristic methods is still insufficient, especially for scenarios where the initial state is not zero and the target state changes under arbitrary target tracking, there are still many challenges. In addition, there is a lack of a method that only uses Tau information The unmanned aerial vehicle automatic driving system, proposes the present invention for this reason

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