Aerial Tracking of Ground Target Using Motion Capture State Feedback

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Autonomous Dynamic Object Tracking With Motion Capture State Feedback
MIT Distributed Robotics Lab
Spring 2011
In this section we describe an autonomous on-board visual navigation and tracking system for an Ascending Technologies Hummingbird quadrotor vehicle to support the whale tracking application. Due to the limited payload of the robot, we are restricted to a computationally impoverished SBC such as a Fit-PC2. The vision system was run on the vehicle using a 2.0 GHz Intel Atom processor (Fit-PC2) with a Point Grey Firefly MV USB camera. The camera had a resolution of 640x480 pixels which was down sampled to 320x240 pixels to reduce computational cost.The full system combined for a total payload of 535 g, well above the recommended maximum payload of 200 g for this platform, but our experiments show that the system remains maneuverable.
This experiment utilized the motion capture system to sense the quadrotor's pose and the vision algorithm output to determine the translational error to the target.
The controller module utilized four independent PID controllers to compute the roll, pitch, yaw and thrust commands. The on-board Autopilot software computed the individual motor commands. The quadrotor control module received a global pose estimate from the motion capture system as well as the attitude compensated estimate of the target's position from the vision system. The vision system output was used to create a desired trajectory from the latest quadrotor position to the estimated target location. Once a new vision estimate was received, the process was repeated and the desired trajectory extended.
The target for the robot tracking experiments was a 0.21x0.28 m blue clipboard mounted onto an iRobot iCreate. The iCreate was programmed to follow a specific trajectory at a constant 0.025 m/s and was also tracked by the motion capture system.The quadrotor flew at a desired altitude of 1.35 m for each trial.
The computer vision system output error estimates at 10 Hz, the motion capture system provided pose estimates at 110 Hz, and the controller computed commands at 40 Hz.
The data was computed over ten consecutive successful trials. The average RMSE was approximately 0.067 m in the x axis and 0.042 m in the y axis.

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