Design and Implementation of a Search-and-Rescue UAV System Based on Active Disturbance Rejection Control and Vision Technology

Yuan Jiang; Weicai Wang; Yichen Hua

doi:10.54097/0q925821

Authors

Yuan Jiang
Weicai Wang
Yichen Hua

DOI:

https://doi.org/10.54097/0q925821

Keywords:

Search-and-rescue UAV, Active Disturbance Rejection Control, Multimodal Vision, Sensor Fusion, Visual Navigation, Precision Delivery

Abstract

This paper presents a search-and-rescue unmanned aerial vehicle (UAV) system that integrates active disturbance rejection control (ADRC), multimodal visual perception, multi-source sensor fusion, and precision payload delivery. On the basis of the supplied outline and the uploaded simulation material, a complete conference-style manuscript is constructed to describe the system architecture, mission workflow, key algorithms, and simulation-oriented evaluation. The proposed platform uses a ZD550 quadrotor, an AIxBoard onboard computer, Ubuntu, and ROS2 to coordinate sensing, localization, recognition, control, and mission execution. The perception module combines visible-light and infrared sensing with lightweight detection, re-identification, and tracking. The localization module fuses GPS/BeiDou, inertial sensing, visual SLAM, and laser cues to improve robustness in open and weak-GNSS environments. The control module applies ADRC to suppress disturbances caused by wind, maneuvering, and model uncertainty. Ten simulation scenario groups are incorporated into the paper, including lighting variation, complex backgrounds, observation distance, frame rate, overlap tracking, posture variation, carried-item interference, multimodal fusion, UAV trajectory evolution, and positioning error comparison. The results show that multimodal perception and sensor fusion improve recognition and localization consistency under environmental uncertainty, while ADRC enhances platform stability and therefore supports safer delivery execution.

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