Robust coordinated motion planning for UGV/UAV agents in disturbed environment

Abstract

In this paper, a coordinated motion of two types of heterogeneous robots, namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. The UGV plays the role of a leader for the UAV. While UGV tracks a predefined geometric path, the UAV is supposed to track the UGV. A robust controller based on integral sliding mode is designed to solve the tracking problem in the presence of input saturations and of the unknown disturbances, and tracking controller algorithm is considered for UAV to track the UGV. Simulations results are presented in order to evaluate the performances of the proposed approach.