quadrotor uav guidence for ground moving target tracking

the studies in aerial vehicles modeling and control have been increased rapidly recently. in this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (uav) and unmanned ground vehicle (ugv) is considered. in this paper the uav plays the role of a virtual leader for the ugvs. the system consists of a vision- based target detection algorithm that uses the color and image moment of a given target. the modeling of the vertical take off and landing vehicle will be described by using euler - newton equations. all of flight controller commands are directly generated based on the offset of the target from the image frame. the image processing and intelligent control algorithms such a kalman filter and so on have been implemented on a latest computer. matlab simulink software has been used to test, analyze and compare the performance of the controllers in simulations .