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

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Robot 2023: Sixth Iberian Robotics Conference (ROBOT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 978))

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Abstract

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.

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Acknowledgments

The authors would like to thank the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021). The project that gave rise to these results received the support of a fellowship from “la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028. This work has been supported by SmartHealth - Inteligência Artificial para Cuidados de Saúde Personalizados ao Longo da Vida, under the project ref. NORTE-01-0145-FEDER-000045. In addition, the authors would like to thank the following Brazilian Agencies CEFET-RJ, CAPES, CNPq, and FAPERJ. This work was carried out under the Project Oleachain “Skills for sustainability and innovation in the value chain of traditional olive groves in the Northern Interior of Portugal” (Norte06-3559-FSE-000188), an operation to hire highly qualified human resources, funded by NORTE 2020 through the European Social Fund (ESF).

Author information

Authors and Affiliations

  1. Instituto Politécnico de Bragança, Braganca, Portugal

    Luciano Bonzatto Junior

  2. Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Braganca, Campus de Santa Apolonia, Braganca, Portugal

    Guido S. Berger, João Braun, Alexandre O. Júnior & José Lima

  3. Lab. para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Braganca, Portugal

    Guido S. Berger, João Braun & José Lima

  4. INESC TEC - INESC Technology and Science, Porto, Portugal

    João Braun, Paulo Costa & José Lima

  5. Centro Federal de Educação Tecnológica Celso Suckow da Fonseca, Rio de Janeiro, Brazil

    Milena F. Pinto

  6. Universidade Tecnológica Federal do Paraná, Parana, Brazil

    Luciano Bonzatto Junior & Marco A. Wehrmeister

  7. Centro Federal de Educação Tecnológica de Minas Gerais, Belo Horizonte, Brazil

    Murillo Ferreira dos Santos

  8. Military Institute of Armoured and Automotive Technology, Okuniewska 1, 05-070, Sulejowek, Poland

    Marek Nowakowski

Authors
  1. Luciano Bonzatto Junior
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  2. Guido S. Berger
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  3. João Braun
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  4. Milena F. Pinto
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  5. Murillo Ferreira dos Santos
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  6. Alexandre O. Júnior
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  7. Marek Nowakowski
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  8. Paulo Costa
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  9. Marco A. Wehrmeister
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  10. José Lima
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Corresponding author

Correspondence to Luciano Bonzatto Junior .

Editor information

Editors and Affiliations

  1. Dep. de Eng. Electrotecnica e de Computadores, University of Coimbra, Coimbra, Portugal

    Lino Marques

  2. Department of Electrónica Industrial, University of Minho, Escola de Engenharia, Guimarães, Portugal

    Cristina Santos

  3. Department of Electrical Engineering, ESTIG, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  4. Centro Universitario de la Defensa, Zaragoza, Spain

    Danilo Tardioli

  5. Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, Madrid, Spain

    Manuel Ferre

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Bonzatto Junior, L. et al. (2024). A Comparison of PID Controller Architectures Applied in Autonomous UAV Follow up of UGV. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 978. Springer, Cham. https://doi.org/10.1007/978-3-031-59167-9_3

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