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This article presents an image-based visual servoing system for indoor visual tracking of 3D moving objects by an Unmanned Aerial Vehicle. This system autonomously follows a 3D moving target object, maintaining it with a fixed distance and centered on its image plane. The initial setup is tested in a detailed simulation environment. The system is then validated on flights in indoor scenarios using...
This paper addresses the problem of path planning for a small UAV operating in a complex four dimensional (time and spatially varying) environment. A kinematic tree path planner that explicitly accounts for time is presented. This kinematic planner is shown to be resolution complete through comparison with the RC-RRT, and simulation results demonstrating planning in a complex time- and spatially-varying...
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