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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >A Cooperative Aerial Robotic Approach for Tracking and Estimating the 3D Position of a Moving Object by Using Pseudo-Stereo Vision
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A Cooperative Aerial Robotic Approach for Tracking and Estimating the 3D Position of a Moving Object by Using Pseudo-Stereo Vision

机译：一种用于跟踪和估计移动物体的3D位置使用伪立体视觉的协同空中机器人方法

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摘要

This work presents a system that allows a team of aerial robots to follow a dynamic object moving in three dimensions. The system is composed of two Quadcopters equipped each one with an onboard monocular camera. A control system is proposed whose main objective is to maintain a stable flight formation of the Quadcopters with respect to the moving object. During the flight trajectory of both robots, its yaw, as well as the pitch of the cameras, are controlled in order to perform the visual tracking of the moving object. In this case, a pseudo-stereo visual system is formed from the cooperation between the two robots. The relative position of the moving object, which is in turn necessary for controlling the flight formation, is determined by triangulation by mean of the pseudo-stereo visual system. A Kalman Filter is used for estimating the states of both Quadcopters and the moving object. The stability of the control laws is proved using Lyapunov theory, and the performance of the system is validated by computer simulations.
机译：这项工作介绍了一个系统，允许一支空中机器人团队遵循三维移动的动态对象。该系统由两个配备每个装备有车载单目相机的Quadcopters组成。提出了一种控制系统，其主要目的是相对于移动物体保持Quadcopters的稳定飞行形成。在两个机器人的飞行轨迹期间，控制其偏航以及相机的间距，以便执行移动物体的视觉跟踪。在这种情况下，伪立体视觉系统由两个机器人之间的协作形成。移动物体的相对位置反过来是控制飞行形成所必需的，通过三角测量来通过伪立体视觉系统的平均值来确定。卡尔曼滤波器用于估计四耦器和移动对象的状态。使用Lyapunov理论证明了控制法的稳定性，通过计算机模拟验证了系统的性能。

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