There are two main trends in the development of unmanned aerial vehicle (UAV) technologies: miniaturization and intellectualization, in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging problems. In this paper, we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor. A lightweight visual module is integrated to enable object tracking capabilities, and a micro positioning deck is mounted to provide accurate pose estimation. In order to be robust against object appearance variations, a novel object tracking algorithm, denoted by RMCTer, is proposed, which integrates a powerful short-term tracking module and an efficient long-term processing module. In particular, the long-term processing module can provide additional object information and modify the short-term tracking model in a timely manner. Furthermore, a position-based visual servoing control method is proposed for the quadrotor, where an adaptive tracking controller is designed by leveraging backstepping and adaptive techniques. Stable and accurate object tracking is achieved even under disturbances. Experimental results are presented to demonstrate the high accuracy and stability of the whole tracking system.

中文翻译：

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纳米级四旋翼的视觉对象跟踪和伺服控制：系统，算法和实验

无人机技术的发展有两个主要趋势：小型化和智能化，其中实现纳米级无人机的目标跟踪功能是最具挑战性的问题之一。在本文中，我们介绍了一种视觉客体跟踪和伺服控制系统，该系统利用量身定制的38 g纳米级四旋翼飞机。集成了轻型视觉模块以实现对象跟踪功能，并安装了微型定位平台以提供准确的姿势估计。为了对物体外观变化具有鲁棒性，提出了一种新的以RMCTer表示的物体跟踪算法，该算法集成了强大的短期跟踪模块和有效的长期处理模块。特别是，长期处理模块可以提供额外的对象信息并及时修改短期跟踪模型。此外，针对四旋翼飞机提出了一种基于位置的视觉伺服控制方法，该方法利用反步法和自适应技术设计了自适应跟踪控制器。即使在干扰下也可以实现稳定而准确的目标跟踪。实验结果表明了整个跟踪系统的高精度和稳定性。