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1、VisualTrackingandServoingSystemDesignforCirclingaTargetofanAirVehicleSimulatedinVirtualRealityCheng-MingHuang1,Jong-HannJean3,Yu-ShanChengl,andLi-ChenFu1,2DepartmentofElectricalEngineeringDepartment.ofComputer2ScieErnDepartmentofElectricalEngineerngiandInformationEngineering2Nation
2、alTaiwanUniversityNationalTaiwanUniversitySt.John'sandSt.Mary'sInstituteofTechnologyTaipei,Taiwan,R.0.C.Taipei,Taiwan,R.0.C.Tamsui,Taipei,Taiwan,R.0.C.lichen@ccms.ntu.edu.twAbstract-Thispaperpresentsthedevelopmentofavisualverycomplex,wewillreduceitfirstandapplythehumanliketrackinga
3、ndvisualservosystemforareconnoiteringairfuzzylogiccontroltotheautopilot.Finally,thedevelopedvehicle.Theairvehicleismountedwithacameraplatformimagebasedfuzzylogicnavigationcontrolleracquiresunderneath.Itisproposedtoperformanaerialreconnoiteringappealingperformanceandconsiderablerobu
4、stnessapparentmissionforcontinuouslyviewinganinterestingtarget.Thefromseveralsimulations.visionsystemiscomposedofahybridvisualtrackingsystemInourautopilotcontroldesign,therearetwoscenarios.andanimagebasedfuzzylogicvisualservosystem.TheFirst,wefixthecameraplatformunderneaththeairveh
5、icle,designedhybridvisualtrackingsystemcantrackarbitrary-withoutanydegreeoffreedom,toviewthegroundshapedmovingobject.Also,thefollowedvisualservosystemstraightdown.Next,werelaxthisrestrictionsothatthecameraistocontroltheairvehiclehoveringthetargetautonomously.platformcanhave2DOF(pit
6、chandyaw)movement,toTheoverallsystemissimulatedandexperimentedinavirtualfunctionlikethemilitarylight-of-sight(LOS)whichcanlockrealityenvironmenttovalidatetheresearchwork.onthetarget.However,inbothscenarios,theUAValwaysneedstoadjustitsposetocompletetheautonomousIndexTerms-Visualtrac
7、king,Visualservo.reconnaissance.Ontheotherhand,virtualreality(VR)isakindofI.INTRODUCTIONadvancedtechnologywhichfacilitatesscientistsandengineersApparently,unmannedairvehicle(UAV)hasgainedtosimulateandtoverifytheirworksinaninteractiveincreasingattentionrecently.Itissmallandsafetocar
8、ryoutapplicationenvironmen
