@Article{iasc.2020.013925,
AUTHOR = {Pi-Yun Chen, Guan-Yu Chen},
TITLE = {The Design of a TLD and Fuzzy-PID Controller Based on the Autonomous Tracking System for Quadrotor Drones},
JOURNAL = {Intelligent Automation \& Soft Computing},
VOLUME = {26},
YEAR = {2020},
NUMBER = {3},
PAGES = {489--500},
URL = {http://www.techscience.com/iasc/v26n3/40008},
ISSN = {2326-005X},
ABSTRACT = {The objective of this paper is to design a new Quadrotor Autonomous Following 
System, and the main three contents are as follows: Object tracking, quadrotor 
attitude determination and the controller. The image tracking portion performs 
object detection and keeps tracking by way of the Tracking-Learning-Detection 
(TLD), and gets the information of the target motion estimation positions. The 
attitude determination of the Quadrotor has adopted the Inertial Navigation 
System and sensors of the accelerometer, gyroscope and electronic compass, 
etc. for retrieving the information. The Kalman filter is also utilized for 
estimating the current values in order to reduce external interference, improve 
the accuracy, and obtain the current posture of the Quadrotor. As for the 
control method, the mathematical modeling on the Quadrotor is performed first 
so that the Quadrotor can obtain the correct posture through the three-axis 
compensations, and then the fuzzy-PID controller may obtain the three-axis 
following angles for output to execute the commands and track the users. 
Finally the feasibility of this method is verified by using the flying software 
simulation and tangible flight experiments.},
DOI = {10.32604/iasc.2020.013925}
}