Ardy Seto Priambodo, Oktaf Agni Dhewa, Aris Nasuha, Fatchul Arifin, Anggun Winursito, Muslikhin
Quadcopters, as highly maneuverable and versatile aerial robots, play a pivotal role in expanding the operational capabilities of autonomous systems. They are, however, often confronted with the intricate challenge of achieving precise tracking of moving objects on the ground, a capability crucial for effective interaction and coordination between aerial and ground-based robots. This paper delves into addressing this precision challenge by implementing ArUco markers as a solution to enhance the accuracy and reliability of quadrotor tracking. ArUco markers offer distinct advantages, providing stable and reliable reference points allowing the quadcopter to autonomously track ground mobile robots with increased precision and responsiveness. The study integrates a Proportional-Integral-Derivative (PID) controller designed to calculate and rectify the output signal based on the positional error derived from the detected ArUco markers, enabling the quadrotor to make real-time adjustments and maintain optimal proximity to the moving object. Simulations conducted using Webots reveal promising results; the quadcopter effectively followed the ground mobile robot with an average level of positional error of 0.31 meters in the X-axis and 0.07 meters in the Y-axis. These results underscore the efficacy and robustness of the marker-based tracking system, emphasizing its potential applicability in various real-world scenarios, such as search and rescue missions and cooperative exploration. The integration of ArUco markers and PID control demonstrates significant advancements in autonomous quadrotor tracking for ground mobile robots and lays down a foundational framework for future research in multi-robot collaborative systems. © 2025 American Institute of Physics Inc.. All rights reserved.
Electrical and Electronics Engineering Dept., Vocational Faculty, Universitas Negeri Yogyakarta, Yogyakarta, Indonesia; Electronics and Informatics Engineering Education Dept., Engineering Faculty, Universitas Negeri Yogyakarta, Yogyakarta, Indonesia
