Decoupled visual servo method for target tracking of rotor UAV

The traditional robot PID control method has poor robustness and poor stability in complex environment because of its simple structure, while the closed loop feedback mechanism of the traditional Visual Servo (VS) control system affects the control effect of strong coupling system. Aiming at the shortcomings of traditional robot PID control and VS in the tracking problem of rotor UAV, this paper proposes a decoupled VS tracking method. The feature extraction algorithm based on Fehrman chain code is used to extract feature points of target and the VS model of the error of feature point to the velocity is established. The influence of the pitch angle and the rolling angle is removed by the attitude adjustment, the motion parameters are extended from four to six dimensions by the method of dynamic expansion, and the linear velocity servo gain and angular velocity servo gain are set respectively. The tracking experiment of rotor UAV under simulation condition and physical condition is designed. Experimental results show that compared with the traditional VS method and PID method, the proposed method has better target loss probability and better tracking effect.