Published July 30, 2025 | Version CC-BY-NC-ND 4.0
Journal article Open

Protocol for Vision-Based Tracking and Proportional Control in Quadcopter Follow-Me Applications

Authors/Creators

  • 1. Department of Electronics and Communication Engineering, RV College of Engineering, Bengaluru (Karnataka), India.

Contributors

Contact person:

Researcher:

  • 1. Department of Electronics and Communication Engineering, RV College of Engineering, Bengaluru (Karnataka), India.

Description

Abstract: This paper presents the design and implementation of a real-time “Follow Me” protocol for a quadcopter using vision-based tracking and proportional control. The system enables a drone to autonomously follow a moving human subject using bounding box detections from an onboard AI-based object detection camera stream. The design extracts the width of the bounding box surrounding the target and uses it as a reference for distance. A proportional control algorithm maps the deviation of the observed width from a predefined ideal width into a corresponding pitch velocity, which is then converted to PWM signals to drive the drone. The control logic ensures that the drone maintains an optimal distance from the subject by dynamically adjusting its forward and backwards movement. Experimental results demonstrate a linear and monotonic relationship between the bounding box width and the drone’s pitch signal, validating the accuracy and responsiveness of the tracking system. The proposed system operates robustly in real-time and can be integrated into lightweight UAV platforms without requiring GPS or external localisation systems.

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Additional details

Identifiers

DOI
10.35940/ijitee.G1107.14080725
EISSN
2278-3075

Dates

Accepted
2025-07-15
Manuscript received on 29 May 2025 | First Revised Manuscript received on 06 June 2025 | Second Revised Manuscript received on 20 June 2025 | Manuscript Accepted on 15 July 2025 | Manuscript published on 30 July 2025.

References

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