AUTOMATIC TRACKING AND LANDING UAV (UNMANNED AERIAL VEHICLE) ON THE UGV (UNMANNED GROUND VEHICLE) BASED ON OBJECT DETECTION OF ARUCO MARKER

• Main Author: Alfi Syahri, Khoerudin
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/42996
• Institution: Institut Teknologi Bandung

UAV (Unmanned Aerial Vehicle) and UGV (Unmanned Ground Vehicle) are used together to replace the role of humans in mapping areas contaminated with hazardous chemicals. UGV has a role as a UAV carrier to carry UAV from GCS (Ground Control Station) to mapping area. Then, UAVs take off and do mapping with UGV. After the mapping mission is complete, the UAV lands on UGV so that it can be brought back to the GCS. UAV landing is very important so that the UAV can return to GCS with no damage. UAV navigation system which is based on GPS and IMU is much relied on environtment condition. Multipath projection phenomena in environtment with lots of building and trees is making the accuracy of navigation system decreased to 10 m. In this topic, visual navigation system is added with object detection of ArUco marker as landing marker. The UAV Navigation System is built by adding a camera to the UAV. Image processing is used to detect ArUco markers placed above UGV. The system that was built has successfully landed the UAV above UGV with 80 % success rate of 10 experiment, landing accuracy of 47,3 cm and root mean square error of landing of 36,3 cm in x axis and 42 cm in y axis.