A Framework of Cooperative UAV-UGV System for Target Tracking

This paper proposed a framework of cooperative UAV-UGV system. This system consists of three modules: UAV, UGV, and ground station console. It has the characteristics of high cohesion, low coupling, cross platform, and cross language. Compared with the prior methods which UAV-UGV cooperation system that only uses UAV to track UGV, our method is more effective and can give full play to the advantages of UAV and UGV. We use UAV visual tracking algorithm and coordinate transformation to get the target location, and use UGV to navigate to the target location to keep up with the target. The high mobility of UAV makes the target tracking range of the whole system larger, the robustness of UGV is good, and the tasks can be performed more precisely.