A biological vision-inspired UAV target tracking method and system

Abstract

The invention discloses a UAV target tracking method and system inspired by biological vision. Inspired by how organisms guide and control most of their purposeful movements, the invention only uses the arrival time information represented by the Tau variable. Complete the perception, planning and control of UAVs in three-dimensional space and time scale. The method includes: solving the arrival time of the UAV and the target from the target image according to the assumption that the light intensity between adjacent frames is constant; using a Tau guidance strategy to generate the desired space-time for any relative speed between the UAV and the target Trajectory; A Tau controller is used to control the UAV to track the target. The invention can only use the monocular camera to estimate the arrival time as the amount of information, which reduces the requirements for the sensor; realizes the space-time trajectory tracking for any initial relative velocity, and expands the application range of the Tau trajectory generation strategy; completes a set that only uses Tau as the information UAV target tracking system.

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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