UAV guidance for tracking control of mobile robots in presence of obstacles

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. While UAV tracks a predefined geometric path, the UGVs are supposed to make a desired formation around the planar position of UAV and avoid obstacles. UAV should be aware of its distance with mobile robots and improve its motion to keep connection among vehicles. In the next step, the UAV encounters pop-up threats, too. The simulation results validate the performance of the proposed algorithm.