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

2024Comunicação em conferência Acesso aberto
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datacite.subject.fosEngenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
datacite.subject.fosEngenharia e Tecnologia::Engenharia Química
datacite.subject.sdg09:Indústria, Inovação e Infraestruturas
datacite.subject.sdg11:Cidades e Comunidades Sustentáveis
dc.contributor.authorBonzatto Junior, Luciano
dc.contributor.authorBerger, Guido S.
dc.contributor.authorBraun, João A.
dc.contributor.authorPinto, Milena F.
dc.contributor.authorSantos, Murillo Ferreira dos
dc.contributor.authorOliveira Júnior, Alexandre de
dc.contributor.authorNowakowski, Marek
dc.contributor.authorCosta, Paulo
dc.contributor.authorWehrmeister, Marco A.
dc.contributor.authorLima, José
dc.date.accessioned2026-02-18T16:12:16Z
dc.date.available2026-02-18T16:12:16Z
dc.date.issued2024
dc.description.abstractThe cooperation between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has brought new perspectives and e!ectiveness 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. Di!erent 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.eng
dc.description.sponsorshipThe 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).
dc.identifier.citationBonzatto Junior, Luciano; Berger, Guido S.; Braun, João A.; Pinto, Milena F.; Santos, Murillo Ferreira dos; Oliveira Júnior, Alexandre de; Nowakowski, Marek; Costa, Paulo; Wehrmeister, Marco A.; Lima, José (2024). A Comparison of PID Controller Architectures Applied in Autonomous UAV Follow up of UGV. In Robot 2023: Sixth Iberian Robotics Conference. Cham: Springer Nature, p. 26-37. ISBN 978-3-031-59167-9
dc.identifier.doi10.1007/978-3-031-59167-9_3
dc.identifier.isbn978-3-031-59166-2
dc.identifier.isbn978-3-031-59167-9
dc.identifier.urihttp://hdl.handle.net/10198/35784
dc.language.isoeng
dc.peerreviewedyes
dc.publisherSpringer Nature
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationLA/P/0007/2021
dc.relation.ispartofLecture Notes in Networks and Systems
dc.relation.ispartofRobot 2023: Sixth Iberian Robotics Conference
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectUAVs tracking moving targets
dc.subjectUAV simulation
dc.subjectUAV-UGV cooperation
dc.subjectPID controller
dc.subjectCascade PID
dc.subjectParallel PID
dc.titleA Comparison of PID Controller Architectures Applied in Autonomous UAV Follow up of UGV
dc.typeconference paper
dspace.entity.typePublication
oaire.awardNumberUIDB/05757/2020
oaire.awardNumberUIDP/05757/2020
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.citation.endPage37
oaire.citation.startPage26
oaire.citation.titleRobot 2023: Sixth Iberian Robotics Conference
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.versionhttp://purl.org/coar/version/c_ab4af688f83e57aa
person.familyNameBerger
person.familyNameBraun
person.familyNameOliveira Júnior
person.familyNameLima
person.givenNameGuido S.
person.givenNameJoão A.
person.givenNameAlexandre de
person.givenNameJosé
person.identifierhttps://scholar.google.com/citations?user=WurUUUUAAAAJ&hl=pt-PT&oi=ao
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person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0002-4100-1494
person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0002-7009-3965
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id57211244317
person.identifier.scopus-author-id57426745400
person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
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