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http://dx.doi.org/10.5302/J.ICROS.2013.13.9010

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

Choi, Jae-Young (Department of Mechanical Engineering, Kongju National University)
Kim, Sung-Gaun (Department of Mechanical Engineering, Kongju National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.5, 2013 , pp. 450-456 More about this Journal
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-integral-derivative control. Finally, the performance of the target tracking controller and proposed algorithm was evaluated through the experiment.
Keywords
collaborative control; UAV; UGV; target tracking;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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