Mobile-Target Tracking Via Highly-Maneuverable VTOL UAVs with EO Vision

Design of a vision-based target tracking control strategy for a dual-rotor UAV with tilting rotors is presented. In this research, the under-study UAV is equipped with a sliding mass that can slide over a motorized linear track attached to the UAV's fuselage enabling it to perform sophisticated maneuvers by monitoring its five controllable degrees of freedom. The dynamic model of the system is first derived and then a model-based controller using vision based pose estimation, obtained via an onboard down-looking camera, is designed enabling the UAV to: (1) pitch hover in position, (2) servo towards a target position, and (3) track a moving target. Simulations show the premise of the proposed vision-based control strategy.