Target Detection, Tracking and Avoidance System for Low-cost UAVs using AI-Based Approaches

• Main Authors: Varatharasan, Vinorth, Rao, Alice Shuang Shuang, Toutounji, Eric, Hong, Ju-Hyeon, Shin, Hyo-Sang
• Format: Journal Article
• Language: English
• Published: 27-02-2020
• Subjects: Computer Science - Computer Vision and Pattern Recognition; Computer Science - Learning; Computer Science - Robotics
• DOI: 10.48550/arxiv.2002.12461

An onboard target detection, tracking and avoidance system has been developed
in this paper, for low-cost UAV flight controllers using AI-Based approaches.
The aim of the proposed system is that an ally UAV can either avoid or track an
unexpected enemy UAV with a net to protect itself. In this point of view, a
simple and robust target detection, tracking and avoidance system is designed.
Two open-source tools were used for the aim: a state-of-the-art object
detection technique called SSD and an API for MAVLink compatible systems called
MAVSDK. The MAVSDK performs velocity control when a UAV is detected so that the
manoeuvre is done simply and efficiently. The proposed system was verified with
Software in the loop (SITL) and Hardware in the loop (HITL) simulators. The
simplicity of this algorithm makes it innovative, and therefore it should be
used in future applications needing robust performances with low-cost hardware
such as delivery drone applications.