Hardware-In-the-Loop Simulation Platform for Image-based Object Tracking Method using Small UAV

In this paper, a hardware-in-the loop simulation (HILS) platform is presented for verifying the image-based object tracking method adopted in the small Unmanned Aerial Vehicle (sUAV). The platform is constructed by image processing module, scene generation module, and flight control module. In the image processing module, the motion of target object is measured by using the speeded-up robust features (SURF) algorithm and the feature matching technique. And then, control command is provided to allow the target object to be tracked by sUAV automatically. The JMAVSIM software developed by PX4 dev-team is used in the proposed platform to simulate the flight of sUAV and provide virtual scene and flight data. Pixhawk based on PX4 firmware which is a popular flight control computer is used as flight control module in the proposed platform. Experimental results show that the object tracking method based on sUAV is effectively tested and evaluated in the proposed HILS platform.