[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

74 Z. Kuś and A. Nawrat
5 Summary
This chapter has presented a solution of the camera head control problem. It allows
to track objects in rapid disturbance conditions. The paper assumes that the
object moves considerably slower than UAV during autonomous navigation [34].
Such an approach provides that the tracked object will not move too far during the
time of disturbance. Due to this fact the helicopter control system [31] will manage
to return to the basic helicopter orientation which is taken up during a regular
flight. It allows the camera head regulators to compensate change of the camera
position and set the camera towards the object. In case of fast-moving objects it is
indispensable to use information obtained from the image processing system. This
image processing system informs us about the moving object direction.
Conclusively, the essence of the proposed solution is to compute the object position
only in such time intervals when the object is in the center of the image.
Lead compensators PD used in close loops allow to considerably enhance the
control quality for the assumed camera head model. For the specific camera head
type it is necessary to find the mathematical model appropriate for this very type
of the camera head. In this case the choice of the regulator depends on the previously
obtained camera head mathematical model. All aforementioned examples
illustrate that the developed solution operates correctly
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