Quadcopter Drone for Vision-Based Autonomous Target Following

Abstract

Unmanned aerial vehicles (UAVs) are becoming popular in various applications. However, there are still challenging issues to be tackled, such as effective obstacle avoidance, target identification within a crowd, and specific target tracking. This paper focuses on dynamic target following and obstacle avoidance to realize a prototype of a quadcopter drone to serve as an autonomous object follower. An adaptive target identification system is proposed to recognize the specific target in the complicated background. For obstacle avoidance during flight, we introduce an idea of space detection and use it to develop a so-called contour and spiral convolution space detection (CASCSD) algorithm to evade obstacles. Thanks to the low architecture complexity, it is appropriate for implementation on onboard flight control systems. The target prediction is integrated with fuzzified flight control to fulfill an autonomous target tracker. When this series of technical research and development is completed, this system can be used for applications such as personal security guard and criminal detection systems.