Design and Testing of Cooperative Motion Controller for UAV-UGV System
Yuxue Li, Xiaoyuan Zhu · Mechatronics and intelligent transportation systems · 2022
Unmanned ground vehicles (UGVs) and quadrotor unmanned aerial vehicles (UAVs) can work together to solve challenges like intelligent transportation, thanks to their excellent performance complements in perception, loading, and endurance.This study presents a UAV-UGV system cooperative control mechanism.To achieve collaborative trajectory tracking, the leader-follower strategy based on a centralized control structure is firstly established in conjunction with the application scenario.The fuzzy robust controller is created to control the quadrotor UAV and improve attitude stability.Meanwhile, the UGV's controller uses the pure pursuit algorithm and a proportional integral derivative (PID) controller.In order to evaluate the cooperative control strategy and algorithm, the UAV-UGV experimental platform is set up based on the QDrone and QCar, and the experimental results show the viability of the suggested plan.