Vision based target tracking control of a multirotor drone using raspberry Pi embedded module

In this paper, we present the design of a quadrotor vision system using a Raspberry Pi camera. The vision system of quadrotor is able to doing image process, and connecting ground control computer while autonomous flights. We developed control algorithm based on a combination of the vision system and IMU, range sensor measurements, in order to estimate the velocity of the quadrotor in its body frame. The results of the simulation and experiment shown the effectiveness of our approach in an unknown environment.