Dynamic Target Tracking and Obstacle Avoidance using a Drone
This paper focuses on tracking dynamic targets using a low cost, commercially available drone. The approach presented utilizes a computationally simple potential field controller expanded to operate not only on relative positions, but also relative velocities. A brief background on potential field methods is given, and the design and implementation of the proposed controller is presented. Experimental results using an external motion capture system for localization demonstrate the ability of the drone to track a dynamic target in real time as well as avoid obstacles in its way.
KeywordsTarget Location Potential Field Obstacle Avoidance Attractive Potential Dynamic Target
The authors would like to specially thank the Motion Analysis Corporation for their support of the Motion Tracking System (MTS) setup at the Advanced Robotics and Automation (ARA) Lab at the University of Nevada, Reno. This project is partially supported by University of Nevada, Reno and NSF-NRI grant number 1426828.
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