The limitation for the angular velocity of the camera head during object tracking with the use of the UAV

The following paper examined the significance of the velocity limitations in the camera head control system. A prerequisite for the control system was that it should quarntee the tracking of an object moving on the ground, even in the case of disturbances such as the rapid rotations and shifts of the UAV. Equipping the UAV with the flight trajectory control system allowed to model the rotations and shifts of the UAV in the particular axes as independent control channels. What is more, the study examined behaviour of the control system for different values of the disturbances. The paper presented the comparison of the object tracking efficiency for the case with and without the limitations of the angular velocity of the camera head. The results showed that the limitation of the velocity of the camera head rotation are crucial in correct object tracking. There was the relationship between both, the value as well as the type of the disturbance and the requirements regarding the necessary velocity of the camera rotation. The paper showed that at the stage of designing the camera head, it was essential to adjust the velocities of the engines. The rationale for selecting the appropriate engines were the value and type of the disturbances to which the UAV might be exposed during operation. It was suggested in the paper that in the case of the disturbances, which require the velocities of rotation greater than the limit velocities of the engines, it was necessary to use additional information about the tracked object. For example, information about the velocity and direction of the tracked object might be used to track the object despite losing the object from the camera field of view for some time.