Autonomous Tracking of Hexacopter on Moving Mobile Robot Using Gazebo ROS Simulation

Abstract

In this paper, we provide simulation of hexacopter UAV and mobile robot UGV collaboration. Cooperative robot simulation is done by using gazebo simulator based on robot operating system (ROS). Mission collaboration provides a tracking object hexacopter to moving mobile robot. Object tracking used a fix bottom camera that covered a view of mobile robot. Tracking performance will used to control the UAV movement. The result of movement is to follow the motion of mobile robot to a desired goal.