MOVING TARGET TRACKING OF UAV/UGV HETEROGENEOUS SYSTEM BASED ON QUICK RESPONSE CODE

By the characteristics of UAV (Unmanned Aerial Vehicle) and UGV (Unmanned Ground Vehicle), UAV/UGV heterogeneous systems can accomplish many complex tasks cooperatively. Moving target tracking is an important basis for the relative positioning and formation maintenance of the system. This paper first designs a UAV/UGV collaborative heterogeneous system. Then, a control method of quadrotor is proposed which is based on SBUS protocol to simulate remote control (RC) in order to maintain the original stability of UAVs. A UGV with Mecanum wheel and its control method is presented. For the problems of real-time performance and occlusion, a frocking scheme based on QR Code (Quick Response Code) identification is proposed. Finally, the scheme is applied to the heterogeneous systems. Simulation and experimental results show that the proposed method is suitable for UAV/UGV heterogeneous system to perform the collaborative frocking task.