Tracking a moving ground object using quadcopter UAV in a presence of noise

This paper addresses visual servoing control of quadrotor unmanned aerial vehicles (UAVs) during tracking of a moving ground object. The proposed system uses single monocular camera as an input for feedback control system of quadcopter. The main objectives of the developed control system was to compensate for the noise introduced by the visual sensor and to reduce errors in object tracking by means of filtering. The proposed control strategy was verified through extensive computer simulations for different cases of object motion trajectories and velocities. The developed control system helped to reduce average object tracking error by up to 60%.