Open AccessFace Tracking for Flying Robot Quadcopter based on Haar Cascade Classifier and PID Controller
Author(s) -
A S Priambodo,
Fatchul Arifin,
Aris Nasuha,
Anggun Winursito
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2111/1/012046
Subject(s) - quadcopter , computer science , haar like features , cascading classifiers , artificial intelligence , computer vision , face detection , drone , viola–jones object detection framework , cascade , pid controller , robot , python (programming language) , classifier (uml) , pattern recognition (psychology) , facial recognition system , control engineering , random subspace method , engineering , temperature control , biology , chemical engineering , genetics , aerospace engineering , operating system
The fundamental aim of this research is to develop a face detection system for a quadcopter in order to follow the face object. This research has two main stages, namely the face detection stage and the position control system. The face detection algorithm used in this research is the haar cascade method which is run using the python and OpenCV programming languages. The algorithm worked well, getting around 16fps on a low spec computer without a GPU unit. The results of the face detection algorithm are proven to be able to recognize faces from the camera installed on the DJI Tello mini drone. The mini drone was chosen because it is small and light, so it is harmless, and testing can be carried out indoors. Besides, the DJI Tello can be programmed easily using the python programming language. The drone’s position is then compared with the set point in the middle of the image to obtain errors so that control signals can be calculated for up/down, forward/backward, and right/left movements. From the testing results, the response speed that occurs in the right/left and up/down movements is less than 2 seconds, while for the forward/backward movement, it is less than 3 seconds.