A1 Refereed original research article in a scientific journal
Autonomous Moving Target-Tracking for a UAV Quadcopter Based on Fuzzy-PI
Authors: Rabah M, Rohan A, Mohamed SAS, Kim SH
Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication year: 2019
Journal: IEEE Access
Journal name in source: IEEE ACCESS
Journal acronym: IEEE ACCESS
Volume: 7
First page : 38407
Last page: 38419
Number of pages: 13
ISSN: 2169-3536
eISSN: 2169-3536
DOI: https://doi.org/10.1109/ACCESS.2019.2906345
Self-archived copy’s web address: https://research.utu.fi/converis/portal/detail/Publication/40019737
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.
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