Use of cooperative unmanned air and ground vehicles for detection and disposal of mines
Use of cooperative unmanned air and ground vehicles for detection and disposal of mines
复制标题
使用协作无人机和地面车辆探测和排除地雷
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
C. Crane
中科院分区：
文献类型：
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作者：
Erica Zawodny MacArthur;D. MacArthur;C. Crane
本研究的目的是通过结合无人机的环境感知能力来扩展多车地面系统的传感能力。在这项研究中使用的飞行器是微型飞机气体Xcell RC直升机。它配备了一个传感器有效载荷，包括立体视觉相机、GPS和数字指南针。使用上述传感器收集地理参考图像，在本研究中使用这些传感器来创建操作区域的地图。本研究中使用的地面车辆是一辆自动驾驶的铃木Mini-Quad ATV。它有以下机载传感器：单视摄像头、激光测距装置、数字罗盘、GPS和编码器。地面车辆使用上述传感器和直升机提供的地图来穿越该地区，定位和隔离模拟地雷。基站由一台笔记本电脑组成，它提供空中和地面车辆系统之间的通信链路。它还为操作员提供系统运行信息和统计数据。车辆和基站之间的所有通信都使用JAUS（无人系统联合架构）消息执行。JAUS体系结构被用作组织车间和车内通信和系统组件层次结构的手段。JAUS的目的是为军事和商业应用提供各种无人系统和子系统之间的互操作性。JAUS试图通过开发功能内聚的构建块来实现这一点，这些构建块称为组件，其接口消息是明确定义的。JAUS体系结构支持分层控制策略，该策略为每一层控制提供特定的消息集。JAUS体系结构的实现使得多车辆系统的软件开发变得容易。该实验演示了如何使用空地车辆系统协同定位和处置模拟地雷。
The objective of this research is to extend the sensing capabilities of a multi-vehicle ground system by incorporating the environmental perception abilities of unmanned aerial vehicles. The aerial vehicle used in this research is a Miniature Aircraft Gas Xcell RC helicopter. It is outfitted with a sensor payload containing stereo vision cameras, GPS, and a digital compass. Geo- referenced images are gathered using the above sensors that are used in this research to create a map of the operating region. The ground vehicle used in this research is an automated Suzuki Mini-Quad ATV. It has the following onboard sensors: single-vision camera, laser range device, digital compass, GPS, and an encoder. The ground vehicle uses the above sensors and the map provided by the helicopter to traverse the region, locate, and isolate simulated land mines. The base station consists of a laptop that provides a communication link between the aerial and ground vehicle systems. It also provides the operator with system operation information and statistics. All communication between the vehicles and the base station is performed using JAUS (Joint Architecture for Unmanned Systems) messages. The JAUS architecture is employed as a means to organize inter-vehicle and intra-vehicle communication and system component hierarchy. The purpose of JAUS is to provide interoperability between various unmanned systems and subsystems for both military and commercial applications. JAUS seeks to achieve this through the development of functionally cohesive building blocks called components whose interface messages are clearly defined. The JAUS architecture allows for a layered control strategy which has specific message sets for each layer of control. Implementation of the JAUS architecture allows for ease of software development for a multi- vehicle system. This experiment demonstrates how an air-ground vehicle system can be used to cooperatively locate and dispose of simulated mines.