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Development of Unmanned Aerial Vehicle (UAV) system with waypoint tracking and vision-based reconnaissance

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Abstract

This paper introduces the developed UAV system for low cost operation and an EOS (Electro Optical System) laboratory. This paper highlights an autonomous navigation system based on microcontrollers that can track a target using images, take three-dimensional measurements of the target, and acquire high quality images. The hardware system and an algorithm for the EOS verify the performance of the image tracking system and 3-D measurement of the target’s position. 3-D position estimations for the target are solved using the mathematical relationship between the UAV and target. Although an on-board EOS can make errors in 3-D measurement, the proposed approach shows improved accuracy and confidence for 3-D target tracking using a postprocessing method.

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Authors and Affiliations

  1. Pusan National University, Jangjeon 2-dong, Geumjeong-gu, Pusan, 609-735, Korea

    Dong-in Han, Jong-hun Kim, Chan-oh Min, Sung-jin Jo, Jeong-ho Kim & Dae-woo Lee

Authors
  1. Dong-in Han
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  2. Jong-hun Kim
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  3. Chan-oh Min
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  4. Sung-jin Jo
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  5. Jeong-ho Kim
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  6. Dae-woo Lee
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Corresponding author

Correspondence to Dae-woo Lee.

Additional information

Recommended by Editorial Board member Hyo-Choong Bang under the direction of Editor Jae-Bok Song. This research was financially supported by the Ministry of Education, Science Technology (MEST) and Korea Institute for Advancement of Technology (KIAT) through the Human Resource Training Project for Regional Innovation.

Dong-in Han received his B.S. degree in Aerospace Engineering from Pusan National University in 2010. His research interests include UAV systems, guidance, and control.

Jong-hun Kim received his B.S. degree in Aerospace Engineering from Pusan National University in 2005. His research interests include using optical tracking, head-eye tracking, and trajectory control.

Chan-oh Min received his M.S. degree in Aerospace Engineering from Pusan National University in 2010. His research interests include re-entry vehicle trajectory control.

Sung-jin Jo received his B.S. degree in Aerospace Engineering from Pusan National University in 2009. His research interests include lunar module guidance and control.

Jeong-ho Kim received his B.S. degree in Aerospace Engineering from Pusan National University in 2008. His research interests include vision based tracking, head/eye tracker system.

Dae-woo Lee received his Ph.D. degree in Aerospace Engineering from Pusan National University in 2001. His research interests include UAV flight control system, image tracking, space flight dynamics, and guidance and control for re-entry vehicle.

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Han, Di., Kim, Jh., Min, Co. et al. Development of Unmanned Aerial Vehicle (UAV) system with waypoint tracking and vision-based reconnaissance. Int. J. Control Autom. Syst. 8, 1091–1099 (2010). https://doi.org/10.1007/s12555-010-0518-8

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  • DOI: https://doi.org/10.1007/s12555-010-0518-8

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