Design of UGV Trajectory Tracking Controller in UGV-UAV Cooperation
Qize Wu, Juntong Qi, Chong Wu, Mingming Wang · 2020
In the leader-following formation of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), when the UAV moves in the direction of the UGV motion constraint, traditional PID controller has a series problem, such as poor stability, large overshot. These problems affect the formation maintenance. In order to solve these problems, the following research is carried out. Firstly, the kinematic model and dynamical model of the UGV are analyzed. Secondly, an improved expert PID target tracking control algorithm is proposed which adjusts PID parameters online according to the knowledge base to improve response speed and stability. To build the knowledge base, lots of experiments are carried out. The problem of sudden change of the control amount when switching parameters is solved by the cubic function fitting smoothing. Finally, a UAV-UGV indoor experimental platform is built to verify the effectiveness of the proposed method, and the experimental result shows that the improved expert PID based target tracking control algorithm has superior response speed and stability.