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Dynamic docking algorithm for UGV to UAV based on single planning under disturbed conditions.

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This study presents a novel method for Unmanned Ground Vehicles (UGVs) to dynamically dock with and track moving drones. The approach uses an Extended Kalman Filter (EKF) for target estimation and a unique path planning algorithm for successful interception.

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Area of Science:

  • Robotics
  • Control Systems
  • Autonomous Navigation

Background:

  • Tracking and recovering drones presents challenges due to their mobility and unpredictable movements.
  • Existing methods often struggle with dynamic targets and real-time trajectory disturbances.
  • Unmanned Ground Vehicles (UGVs) require advanced control strategies for effective drone interception.

Purpose of the Study:

  • To develop an initial dynamic docking strategy for UGVs to intercept mobile and trajectory-disturbed drones.
  • To enable UGVs to track and recover drones by addressing target motion deviations.
  • To create a unified control algorithm for simultaneous docking and tracking.

Main Methods:

  • Target status estimation using the Extended Kalman Filter (EKF).
  • Mapping drone perturbation to a dynamic docking point to quantify motion deviation.
  • Designing an initial path planning algorithm using Bezier curves with polar offset points.
  • Integrating path planning with real-time target states for a single-planning docking control algorithm.

Main Results:

  • The proposed algorithm enables UGVs to dynamically dock with trajectory-disturbed drones in both position and angle.
  • The system successfully achieves target tracking post-docking after simplification.
  • Simulations and experiments validate the effectiveness of the developed docking and tracking strategy.

Conclusions:

  • The developed dynamic docking and tracking algorithm provides an effective solution for UGV-drone interception.
  • The method demonstrates robustness in handling mobile and disturbed drone targets.
  • This research contributes to advancements in autonomous robotic systems for search, rescue, and recovery operations.