Yi, JunHak (Chung-Ang University), Lee, Donghee (Chung-Ang University), Park, Wooryong (Chung-Ang University), Byun, Woohyun (Chung-Ang University), Huh, Soobin (Chung-Ang University), Nam, Woochul (Chung-Ang University)

Autonomous Control of UAV for Proximity Tracking of Ground Vehicles with AprilTag and Feedforward Control

Scheduled for presentation during the Poster Session "Poster Paper Session" (WeC1), Wednesday, June 7, 2023, 17:30−19:00, Foyer Area

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 18, 2024

Abstract

Recently, various tracking flight techniques of unmanned aerial vehicle (UAVs) have been developed and used in various applications. However, a proximity tracking flight is still challenging because accurate estimation of the position and velocity of a target ground vehicle (GV) is difficult. This paper presents an autonomous UAV system that can fly close to GVs. If the relative position between the UAV and GV was used for flight control and velocity was not used, the tracking can be unsuccessful. To address this issue, the speed of the ground vehicle was also estimated, and it was feedforwarded into the control loop. Real flight experiments showed that this approach greatly improved the tracking performance; the UAV tracked the GV driving at approximately 4 m/s with an average displacement error of less than 1 m.