Quadrotor UAV Guidence For Ground Moving Target Tracking

The studies in aerial vehicles modeling and control have been increased rapidly recently. in this paper, a coordination of two types of heterogeneous robots, namely unmanned aerial vehicle (uav) and unmanned ground vehicle (ugv) is considered. the uav plays the role of a virtual leader for the ugvs. the system consists of a vision- based target detection algorithm that uses the color and image moment of a given target. the modeling of the vtol vehicle will be described by using euler-newton equations. flight controller commands are directly generated based on the offset of the target from the image frame. the image processing and intelligent control algorithms have been implemented on a latest computer. matlab simulink has been used to test, analyze and compare the performance of the controllers in simulations .