Bonzatto Junior, LucianoBerger, Guido S.Braun, João A.Pinto, Milena F.Santos, Murillo Ferreira dosOliveira Júnior, Alexandre deNowakowski, MarekCosta, PauloWehrmeister, Marco A.Lima, José2026-02-182026-02-182024Bonzatto 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 978-3-031-59167-9978-3-031-59166-2978-3-031-59167-9http://hdl.handle.net/10198/35784The 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.engUAVs tracking moving targetsUAV simulationUAV-UGV cooperationPID controllerCascade PIDParallel PIDconference paper10.1007/978-3-031-59167-9_3