This paper focuses on tracking dynamic targets using a low cost, commercially available drone. The approach presented utilizes a computationally simple potential field controller expanded to operate not only on relative positions, but also relative velocities. A brief background on potential field methods is given, and the design and implementation of the proposed controller is presented. Experimental results using an external motion capture system for localization demonstrate the ability of the drone to track a dynamic target in real time as well as avoid obstacles in its way.
CITATION STYLE
Woods, A. C., & La, H. M. (2015). Dynamic target tracking and obstacle avoidance using a drone. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9474, pp. 857–866). Springer Verlag. https://doi.org/10.1007/978-3-319-27857-5_76
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