High-Speed Autonomous Interception of Maneuvering Drones Using Image-Based Visual Servoing

This paper proposes a scheme that uses an autonomous multicopter with a strapdown camera to rapidly intercept a maneuvering intruder UAV. The interceptor multicopter can autonomously detect and intercept intruders moving at high speed in the air using an Image-Based Visual Servoing (IBVS) controller, which avoids the complex mechanical structure of the electro-optical pod. To address the challenges of delayed, low frame rate, and easily lost image feedback during high-speed motion, a Delayed Kalman Filter (DKF) observer is generalized to predict the current image position and increase the update frequency.