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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2024

Autores

Bonzatto, L Jr (Autor) Outra; Berger, GS (Autor) Outra; Braun, J (Autor) Outra; Pinto, MF (Autor) Outra; dos Santos, MF (Autor) Outra; Junior, AO (Autor) Outra; Nowakowski, M (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP; Wehrmeister, MA (Autor) Outra; Lima, J (Autor) Outra

Ata de Conferência Internacional

Título: ROBOT 2023: SIXTH IBERIAN ROBOTICS CONFERENCE, VOL 2

Páginas: 26-37

6th Iberian Robotics Conference (Robot)

Coimbra, PORTUGAL, NOV 22-24, 2023

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-010-EZZ

DOI: 10.1007/978-3-031-59167-9_3

Abstract (EN): The cooperation between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has brought new perspectives and effectiveness 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. Different 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12