Computer Vision Based Control of an Autonomous Blimp
Published in Turkish Journal of Electrical Engineering & Computer Sciences, 2016
Recommended citation: Bekiroglu, K., Sznaier, M., Lagoa, C., & Shafai, B. (2016). Computer vision-based control of an autonomous blimp. Turkish Journal of Electrical Engineering and Computer Sciences, 24(5), 4015-4026. https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=2548&context=elektrik
The objective of this study is twofold: to approximate a model of a blimp, and to use this model to develop a setup to track a target with the blimp that is outfitted with a wireless camera and radio-controlled propellers. This article presents a powerful method to track any moving or stationary target with an unmanned aerial vehicle by combining the advantages of the proportional derivative (PD) controller, continuously adaptive mean shift (Camshift) algorithm, and pulse width modulation (PWM) method.