A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes
- Submitting institution
-
The University of Essex
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 1253
- Type
- D - Journal article
- DOI
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10.1109/TSMC.2018.2808471
- Title of journal
- IEEE Transactions on Systems Man and Cybernetics: Systems
- Article number
- -
- First page
- 2362
- Volume
- 49
- Issue
- 11
- ISSN
- 2168-2216
- Open access status
- Compliant
- Month of publication
- March
- Year of publication
- 2018
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
3
- Research group(s)
-
D - Robotics and Embedded Systems (RES)
- Citation count
- 9
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- Published in IEEE-TSMCS, a top journal, this paper presented a novel system for unmanned-aerial-vehicles (UAVs) to perform simultaneous real-time target-tracking and path-planning. A support vector machine-based target screening algorithm is deployed to select correct targets from multiple candidates and a conditional scale adaptive algorithm is created to improve performance. This was the first work to enable UAVs to acquire control-points and guide their flight according to moving targets in cluttered outdoor environments e.g. forests. As a thorough analysis of underpinning theory this has good commercialisation potential and citation evidence suggests significant impact on wide application of UAVs in search-rescue operations.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -