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

摘要

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.