In difficult environments the teleoperation of an UGV can be extremely hard. In this case the adoption of an UAV, cooperating with the UGV, can help to oversee a wider area and to better plan the UGV trajectories. This paper shows a strategy to allow an UAV autonomously tracking an UGV. A marker on the UGV and an image processing algorithm permit its localization on the image, while the tracking is performed by using three control loops for roll, pitch and yaw. Several experimental trials confirm the validity of the proposed approach.

UAV/UGV cooperation to improve navigation capabilities of a mobile robot in unstructured environments

Cantelli L.;MUSCATO, Giovanni
2016

Abstract

In difficult environments the teleoperation of an UGV can be extremely hard. In this case the adoption of an UAV, cooperating with the UGV, can help to oversee a wider area and to better plan the UGV trajectories. This paper shows a strategy to allow an UAV autonomously tracking an UGV. A marker on the UGV and an image processing algorithm permit its localization on the image, while the tracking is performed by using three control loops for roll, pitch and yaw. Several experimental trials confirm the validity of the proposed approach.
978-981314912-0
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11769/94807
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 10
  • ???jsp.display-item.citation.isi??? 6
social impact