Quadrotor unmanned aerial vehicle visual servo target tracking control method based on preset performance

Abstract

The invention provides a preset performance-based four-rotor unmanned aerial vehicle visual servo target tracking control method. The method comprises the following steps that 1, a space image coordinate of a target feature point and an image plane coordinate of the target feature point are obtained through an airborne camera of a four-rotor unmanned aerial vehicle, and a focal length of the airborne camera of the four-rotor unmanned aerial vehicle is obtained; image features of the target feature points and Jacobian matrixes of the target feature points are calculated, image feature vectors are formed by the image features of the multiple target feature points, a superposition array is formed by the Jacobian matrixes of the multiple target feature points, and the speed of the airborne camera is obtained. According to the method, the dynamic and steady-state performance during target tracking is quantitatively designed from the view angle constraint of the airborne camera of the four-rotor unmanned aerial vehicle, and the preset performance function is introduced so that the characteristic error meets the corresponding preset performance constraint; it is guaranteed that the image feature error is asymptotically stable and the tracking error of the target feature can be converged to any small preset area, and tracking control over the moving target by the four-rotor unmanned aerial vehicle is achieved.

Description

technical field [0001] The invention relates to the technical field of flying robot control, in particular to a visual servo target tracking control method for a quadrotor unmanned aerial vehicle based on preset performance. Background technique [0002] Today, multi-rotors, especially quad-rotors, are considered the most popular even in harsh environments due to their high maneuverability, low acquisition and maintenance costs, and excellent vertical take-off and landing capabilities Self-driving aerial platform. In addition, rapid advances in navigation, perception sensors, and high-performance battery technologies have significantly improved the endurance and payload capabilities of quadrotor UAVs, making them ideal platforms for a variety of missions, such as search and rescue, area coverage, surveillance, and object transportation and smart agriculture. [0003] Although many navigation sensors (GPS, INS, etc.) are used during autonomous multi-rotor operation, cameras...

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a method, the purpose of which is to solve the problem that the target tracked by the UAV is extremely difficult due to the limitation of the viewing angle of the airborne camera and the coupling between the motion of the UAV and the motion of the airborne camera in the visual servo control of the quadrotor UAV. Easy to lose, which leads to the problem of task failure

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