Design of Airport Obstacle-Free Zone Monitoring UAV System Based on Computer Vision.

In recent years, a rising number of incidents between Unmanned Aerial Vehicles (UAVs) and planes have been reported at airports and airfields. A design scheme for an airport obstacle-free zone monitoring UAV system based on computer vision is proposed. The system integrates the functions of identification, tracking, and expelling and is mainly used for low-cost control of balloon airborne objects and small aircrafts. First, a quadcopter dynamic model and 2-Degrees of Freedom (2-DOF) Pan/Tilt/Zoom (PTZ) model are analyzed, and an attitude back-stepping controller based on disturbance compensation is designed. Second, a low and slow small-target self-identification and tracking technology is constructed against a complex environment. Based on the You Only Look Once (YOLO) and Kernel Correlation Filter (KCF) algorithms, an autonomous target recognition and high-speed tracking plan with great robustness and high reliability is designed. Third, a PTZ controller and automatic aiming strategy based on Anti-Windup Proportional Integral Derivative (PID) algorithm is designed, and a simplified, automatic-aiming expelling device, the environmentally friendly gel ball blaster, which features high speed and high accuracy, is built. The feasibility and stability of the project can be verified through prototype experiments.