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Abstract
During the last few decades, the utilization of unmanned aerial vehicles has grown in military and has seen new civil applications because of their reduced cost and hovering capabilities. This article presents a visual servoing system for detecting and tracking a moving object using an unmanned aerial vehicle. The system consists of two sequential components. The first component addresses the detection of a moving object, using the unmanned aerial vehicle based on color features. The second component addresses the visual servoing control that is designed to guide the unmanned aerial vehicle according to the target position and inclination. Three fuzzy logic modules are implemented in order to control the unmanned aerial vehicle in tracking a moving object. The proposed method is validated on a real flight using an AR.Drone 2.0 quadcopter. The obtained results show that the performance of the proposed method is suitable for object-following tasks in surveillance applications. This research investigates the use of unmanned aerial vehicle technology for crowd monitoring during Hajj and it could also be used for border surveillance to monitor Saudi Arabia’s borders.
Highlights
unmanned aerial vehicles (UAVs) object tracking is the process of determining the position of a target while using the UAV camera to enable the UAV to stay near of it,[24] or in some cases landing on Center of Smart Robotics Research (CS2R), Department of Computer Science, College of Computer and Information Sciences (CCIS), King Saud University (KSU), Riyadh, Kingdom of Saudi Arabia (KSA)
Many techniques are used for this purpose such as scale invariant feature transform (SIFT),[28,29] speeded up robust features (SURF),[30] background subtraction,[31] Kernel-based tracking,[32] Bayesian estimation,[33,34] hierarchical particle filtering,[35] and robust object tracking with multiple instance learning.[36]
The proposed work intends to introduce UAVs for monitoring and surveillance in military applications as well as for monitoring crowds participating in Hajj rituals
Summary
Nowadays, unmanned aerial vehicles (UAVs) are widely used in diverse applications, such as in civil engineering,[1,2,3] in remote sensing applications,[4,5] in threedimensional (3D) mapping applications,[6] in surveillance[7] border monitoring,[8,9,10] in traffic monitoring,[11,12] in security and reconnaissance,[2,13] in agriculture and vegetation monitoring using thermal and multispectral cameras,[14,15,16] and in disaster management.[17,18] Other applications are specific surface displacement monitoring such as the Himalayan debris-covered glacier,[19] photogrammetry of cultural heritage and archeological sites,[20] and data collection through a network of UAVs.[21]. Many techniques are used for this purpose such as scale invariant feature transform (SIFT),[28,29] speeded up robust features (SURF),[30] background subtraction,[31] Kernel-based tracking,[32] Bayesian estimation,[33,34] hierarchical particle filtering,[35] and robust object tracking with multiple instance learning.[36]
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