This paper presents a collaborative farming operation system composed of an outdoor unmanned aerial vehicle (UAV), which is a quadrotor, and an unmanned ground robot (UGV) with a tracked mobile platform. Both UAV and UGV are connected by an electric cable that lets the UAV extend the working time in the farm field. In order to execute the farming missions, a path planning algorithm is applied to generate a feasible path with some restrictions of both UAV and the UGV. A trajectory tracking control with input constraints is proposed and implemented to track the designed path from the path planning algorithm. Simulations and experimental results are well used to show the effectiveness of the two proposed methods by analyzing their output results.
path planning, trajectory tracking control, nonlinear control, unmanned aerial vehicle (UAV), unmanned grounded vehicle (UGV).