Abstract
Using the characteristics of unmanned aerial vehicle/unmanned ground vehicle, heterogeneous systems can accomplish many complex tasks cooperatively. Moving target tracking is an important basis for the relative positioning and formation maintenance of heterogeneous cooperative systems. This paper first introduces the unmanned aerial vehicle/unmanned ground vehicle collaborative tracking task and heterogeneous system. In order to maintain the original stability of unmanned aerial vehicle, a control method based on SBUS protocol to simulate remote control is proposed. About unmanned ground vehicle with Mecanum wheel, a detailed description of control method is designed. For the problems of real-time performance and occlusion, a tracking scheme based on AprilTag identification is studied. The scheme tracks the Tag target in the case of no occlusion. When occlusion occurs, the scheme tracks the color feature around the Tag. The accuracy of the tracking algorithm and the problem of occlusion are greatly improved. Finally, the scheme is applied to the heterogeneous systems. Simulation and experimental results show that the proposed method is suitable for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system to perform the collaborative tracking task.
Highlights
With the rapid development of science and technology, the applications of aerial robots ( known as unmanned aerial vehicles (UAVs)) and ground robots (unmanned ground vehicles (UGVs)) are receiving more and more attention from researchers all over the world
The target tracking algorithm is an important basis for UAV/UGV to make relative positioning and formation
To improve the real-time performance and accuracy, a tracking scheme based on AprilTag is proposed and color information is added around the original Tag in the case of occlusion
Summary
With the rapid development of science and technology, the applications of aerial robots ( known as unmanned aerial vehicles (UAVs)) and ground robots (unmanned ground vehicles (UGVs)) are receiving more and more attention from researchers all over the world. The target tracking algorithm is an important basis for UAV/UGV to make relative positioning and formation.. The correlation filtering algorithm adopts the local search method which has obvious advantages in real-time performance, but it is difficult to track the target with high speed and longer occlusion time, such as KCF (kernel correlation filter) based on HOG (histogram of oriented gradients) feature. To improve the real-time performance and accuracy, a tracking scheme based on AprilTag is proposed and color information is added around the original Tag in the case of occlusion. The tracking scheme is loaded into the performed UAV/UGV heterogeneous systems and the result shows that the proposed method is suitable for collaborative tracking task. The lower right is a moving target with an AprilTag attached
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