Dynamic tracking method for landing trajectory of power line patrol UAV Based on Chaos Genetic Algorithm

In order to further improve the stability of UAV trajectory tracking, this paper proposes a dynamic tracking method of UAV Landing Trajectory Based on chaos genetic algorithm. Firstly, the dynamics model of quadrotor UAV is established, and the landing mark which is easy to identify is designed. Using Zhang Zhengyou calibration algorithm, the transformation from real world 3D coordinates to image 2D coordinates is obtained, and the internal parameters of the computer are quickly calculated. On this basis, feature points are detected and identified to facilitate landing trajectory tracking. Using chaos genetic algorithm to divide the priority of landing path, the dynamic tracking of landing trajectory is realized. Experimental results show that the performance of the proposed method is stable. The proposed method has strong robustness in noise environment.