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A Comparison of PID Controller Architectures Applied in Autonomous UAV Follow up of UGV

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Resumo:The cooperation between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has brought new perspectives and e!ectiveness to production and monitoring processes. In this sense, tracking moving targets in heterogeneous systems involves coordination, formation, and positioning systems between UGVs and UAVs. This article presents a Proportional-Integral-Derivative (PID) control strategy for tracking moving target operations, considering an operating environment between a multirotor UAV and an indoor UGV. Di!erent PID architectures are developed and compared to each other in the Gazebo simulator, whose objective is to analyze the control performance of the UAV when used to track the ground robot based on the identification of the ArUco fiducial marker. Computer vision techniques based on the Robot Operating System (ROS) are integrated into the UAV’s tracking system to provide a visual reference for the aircraft’s navigation system. The results of this study indicate that the PD, Cascade, and Parallel controllers showed similar performance in both trajectories tested, with the Parallel controller showing a slight advantage in terms of mean error and standard deviation, suggesting its suitability for applications that prioritize precision and stability.
Autores principais:Bonzatto Junior, Luciano
Outros Autores:Berger, Guido S.; Braun, João A.; Pinto, Milena F.; Santos, Murillo Ferreira dos; Oliveira Júnior, Alexandre de; Nowakowski, Marek; Costa, Paulo; Wehrmeister, Marco A.; Lima, José
Assunto:UAVs tracking moving targets UAV simulation UAV-UGV cooperation PID controller Cascade PID Parallel PID
Ano:2024
País:Portugal
Tipo de documento:comunicação em conferência
Tipo de acesso:acesso aberto
Instituição associada:Instituto Politécnico de Bragança
Idioma:inglês
Origem:Biblioteca Digital do IPB

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