计算机科学 ›› 2017, Vol. 44 ›› Issue (Z11): 520-523.doi: 10.11896/j.issn.1002-137X.2017.11A.110
贾配洋,彭晓东,周武根
JIA Pei-yang, PENG Xiao-dong and ZHOU Wu-gen
摘要： 近年来,四旋翼无人机在自主完成各种复杂任务中扮演着愈发重要的角色。移动降落技术是无人机智能处理系统的关键技术,包含3个环节:目标检测、目标跟踪、位置预估及降落。提出了一种基于Apriltags的跟踪降落算法,提升了识别性能,通过Kalman滤波及拟合函数等方法预估运动目标轨迹,采用PID算法控制无人机稳定飞行、快速响应,实现了无人机对移动目标的智能识别、稳定跟踪及移动降落。
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