Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

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

UAV-UGV의 협업제어를 위한 향상된 Target Tracking에 관한 연구

  • Choi, Jae-Young (Department of Mechanical Engineering, Kongju National University) ;
  • Kim, Sung-Gaun (Department of Mechanical Engineering, Kongju National University)
  • 최재영 (공주대학교 기계공학전공) ;
  • 김성관 (공주대학교 기계자동차공학부)
  • Received : 2013.02.20
  • Accepted : 2013.03.15
  • Published : 2013.05.01
Download PDF
⟨ Previous Next ⟩

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

References

  1. S.-E. Yu and D.-E. Kim, "Air-ground cooperationg robots: applications and challenges," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 2, pp. 101-106, Feb. 2010. https://doi.org/10.5302/J.ICROS.2010.16.2.101
  2. J. S. Jeong, Y. W. Lim, S. H. Kang, and D. H. Kim, "Cooperation of heterogeneous robot team for localization and map building," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 2, pp. 102-107, Feb. 2011. https://doi.org/10.5302/J.ICROS.2011.17.2.102
  3. M. Saska, T. Krajnik, and L. Preucil, "Cooperative $\mu$UAV-UGV autonomous indoor surveillance," Proc. of the 9th International Multi-Conference on Systems, Signals and Devices, vol. 1, pp. 141-146, Mar. 2012.
  4. N. Mathews, A. L. Christensen, R. O'Grady, and M. Dorigo, "Spatially targeted communication and self-assembly," Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2678-2679, Oct. 2012.
  5. N. Frietsch, O. Meister, C. Schlaile, and G. F. Trommer "Teaming of an UGV with a VTOL-UAV in urban environments," Position, Location and Navigation Symposium, 2008 IEEE/ION, pp. 1278-1285, May 2008.
  6. J.-H. Kim, D.-W. Lee, K.-R. Cho, S.-Y. Jo, J.-H. Kim, and D.-I. Han, "Vision based estimation of 3-D position of target for target following guidance/control of UAV," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 14, no. 12, pp. 1205-1211, Dec. 2008. https://doi.org/10.5302/J.ICROS.2008.14.12.1205
  7. M.-G. Yoo and S.-K. Hong, "Target tracking control of a quadrotor UAV using vision sensor," Journal of the Korean Society for Aeronautical and Space Sciences, vol. 40, no. 2, pp. 118-128, Feb. 2012. https://doi.org/10.5139/JKSAS.2012.40.2.118
  8. J. J. Park, S. D. Kim, J. M. Kim, and S. S. Kim, "Driving control of mobile robot with mecanum wheel using fuzzy inference system," International Conference on Control, Automation and Systems, pp. 2519-2523, Oct. 2010.
  9. P.-J. Bristeau, F. Callou, D. Vissiere, and N. Petit, "The navigation and control technology inside the AR.Drone micro UAV," Proc. of the 18th IFAC World Congress, pp. 1477-1484, Aug. 2011.