Study on the Improved Target Tracking for the Collaborative Control of the UAV-UGV

Abstract

This paper suggests the target tracking method improved for the collaboration of the quad rotor type UAV (Unmanned Aerial Vehicle) and omnidirectional Unmanned Ground Vehicle. If UAV shakes or UGV moves rapidly, the existing method generates a phenomenon that the tracking object loses the tracking target. To solve the problems, we propose an algorithm that can track continually when they lose the target. The proposed algorithm stores the vector of the landmark. And if the target was lost, the control signal was inputted so that the landmark could move continuously to the direction running out. Prior to the experiment, Proportional and integral control were used in 4 motors in order to calibrate the Heading value of the omnidirectional mobile robot. The landmark of UGV was recognized as the camera adhered to UAV and the target was traced through the proportional-integralderivative control. Finally, the performance of the target tracking controller and proposed algorithm was evaluated through the experiment.

UAV-UGV cooperation for objects transportation in an industrial area

“…It corresponds to the addition of the given distance to be maintained between the UGVs z 0 =80cm and L=18cm, which confirms the efficiency of our developed controller (17). We can see (Figure 6) that the leader's trajectory is discontinuous.…”

“…The processed data is used as an input for a UGV planner to navigate in the covered area. Other related work using AGC for cooperative navigation and state estimation can be found in [14], [15], [16], [17], [18], [11], [19], [20], [21].…”

A decentralized interactive architecture for aerial and ground mobile robots cooperation

“…The authors of AGC applications ( [15], [16], [17], [18]) used a single colored marker to define the relative location of the UGV to the UAV, and a digital compass to communicate the orientation which generally gives inaccurate measurements (digital compass is sensible to electromagnetic field variations). To overcome this issue, we added a second marker to also estimate its orientation.…”

Cooperative UAV/UGV Platform for a Wide Range of Visual Information

“…이러한 추적 과정에 서 UAV가 UGV를 인식하는 방법은 일반적으로 영상 인식 을 통해 이루어진다. 흰색의 둥근 원 혹은 검은색의 둥근 원을 UGV 상단에 위치시키고 UAV는 그 원을 보며 움직 이는 방법이 있다 [9] [10]. 또 다른 연구로는 두 개의 LED를 UGV 상단에 위치시키고 UAV는 LED의 위치와 두 개의 LED 사이의 거리를 보며 위치를 결정하는 방법도 있다 [11].…”

“…또 다른 연구로는 두 개의 LED를 UGV 상단에 위치시키고 UAV는 LED의 위치와 두 개의 LED 사이의 거리를 보며 위치를 결정하는 방법도 있다 [11]. 하지만, 이전에 제안된 연구 [9][10][11] …”