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

• Published in: ISA transactions 2024-12
• Main Authors: Si, Jinge, Xu, Yongkang, Niu, Tianwei, Wang, Liang, Li, Bin, Deng, Chencheng, Wang, Shoukun, Wang, Junzheng
• Format: Article
• Language: English
• Subjects: Bezier path planning; Dynamic docking; Dynamic target tracking; Extended Kalman Filter; Wheel robot control
• ISSN: 0019-0578
• DOI: 10.1016/j.isatra.2024.12.022

This paper investigates the initial dynamic docking problem to mobile and trajectory-disturbed targets for tracking and recovering drones by Unmanned Ground Vehicles (UGVs). First, the target status is estimated by employing the Extended Kalman Filter (EKF). Then, the drone’s perturbation is mapped to a dynamic docking point, quantifying the target motion deviation. Within this point frame, an initial path planning algorithm based on Bezier curve with polar offset points is designed. By integrating the initial path and real-time target states into the control layer, a docking control algorithm within single planning is developed. This algorithm enables the UGV to dynamically dock to a trajectory-disturbed drone in position and angle, while also achieving target tracking after simplification. Finally, simulations and experiments have been conducted to demonstrate its effectiveness. •Unlike most current approaches accounting for ideally static or dynamic targets, a dynamic docking framework based on single planning is presented for interference environments, comprising target estimation, disturbance mapping, initial path planning, and docking control.•An initial Bezier path planning algorithm based on polar offset points is proposed, providing position tracking reference for the UGV in the coordinate frame of a docking point mapped by disturbances.•Based on the designed system model, a docking control algorithm is developed with demonstrated stability, which integrates the initially planned path and the real-time state of the mapped target as references into the control layer.•After simplification, the proposed algorithm can also be utilized for tracking trajectory- disturbed mobile targets.