# Estimation and Tracking of a Moving Target by Unmanned Aerial Vehicles

## TL;DR

This paper introduces a novel image-based control and estimation method for UAVs to track moving targets using YOLO features, addressing unknown target dynamics and feature availability issues.

## Contribution

It is the first to use YOLO bounding boxes for dynamic target tracking control and estimation without motion constraints, integrating an adaptive UKF for improved accuracy.

## Key findings

- Effective target tracking demonstrated in simulations.
- Robust estimation of target motion with uncertain dynamics.
- Enhanced tracking performance through feedforward control.

## Abstract

An image-based control strategy along with estimation of target motion is developed to track dynamic targets without motion constraints. To the best of our knowledge, this is the first work that utilizes a bounding box as image features for tracking control and estimation of dynamic target without motion constraint. The features generated from a You-Only-Look-Once (YOLO) deep neural network can relax the assumption of continuous availability of the feature points in most literature and minimize the gap for applications. The challenges are that the motion pattern of the target is unknown and modeling its dynamics is infeasible. To resolve these issues, the dynamics of the target is modeled by a constant-velocity model and is employed as a process model in the unscented Kalman filter (UKF), but process noise is uncertain and sensitive to system instability. To ensure convergence of the estimate error, the noise covariance matrix is estimated according to history data within a moving window. The estimated motion from the UKF is implemented as a feedforward term in the developed controller, so that tracking performance is enhanced. Simulations are demonstrated to verify the efficacy of the developed estimator and controller.