Abstract
In recent years, the quadrotor unmanned aerial vehicle (QUAV) and its combination with the mobile ground vehicle have been widely used in various military and civilian scenarios. This paper takes the cooperation system composed of the QUAV and the mobile ground vehicle as the research object, and conducts in-depth research on the tracking and landing of the QUAV on the mobile ground vehicle. For the tracking and landing of the QUAV in the actual environment, two difficult problems that are easy to appear are mainly discussed: when the mobile ground vehicle has acceleration, the QUAV is easy to loss the target due to the strong maneuverability of the ground vehicle; when the mobile ground vehicle moves on non-horizontal roads, changes of the slope will also affect the tracking and landing of the QUAV. In response to the above two problems, the method of ground-air information fusion is adopted. The sensor information of the ground vehicle is used to reflect the movement and driving conditions of the mobile ground vehicle. And then combined with the current visual tracking status of the QUAV to achieve information adaptive fusion and reasonably adjust the control amount of the QUAV. The tracking and landing strategies of the QUAV under two conditions are designed separately. Finally, the experimental scenarios are built in Gazebo and the effectiveness of the designed methods and strategies are verified.
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