Bird's eye view: Cooperative exploration by UGV and UAV
Bird's eye view: Cooperative exploration by UGV and UAV
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DOI：
10.1109/icuas.2017.7991513
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发表时间：
2017-06
期刊：
影响因子：
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通讯作者：
Shannon Hood;Kelly Benson;Patrick Hamod;Daniel Madison;J. O’Kane;Ioannis M. Rekleitis
中科院分区：
文献类型：
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作者：
Shannon Hood;Kelly Benson;Patrick Hamod;Daniel Madison;J. O’Kane;Ioannis M. Rekleitis
提出了一种无人地面车（UGV）和无人机（UAV）协同探测的解决方案。更具体地说，无人机在自由空间中导航，无人机通过其较高的Vantage位置提供增强的态势感知。激励性的应用是在受损建筑物中的搜索和救援。UGV顶部的摄像机用于跟踪UAV底部的基准标签，使UAV相对于UGV保持固定姿态。此外，无人机使用其前置摄像机为远程操作员提供鸟瞰图，允许越过遮挡UGV传感器的障碍物进行观察。使用配备Hokuyo激光测距仪和Parrot Bebop 2的TurtleBot 2对所提出的方法进行了测试。大量实验证明了该算法的有效性.这项工作是基于几个开源软件包和生成的代码是可用的在线。
This paper proposes a solution to the problem of cooperative exploration using an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicle (UAV). More specifically, the UGV navigates through the free space, and the UAV provides enhanced situational awareness via its higher vantage point. The motivating application is search and rescue in a damaged building. A camera atop the UGV is used to track a fiducial tag on the underside of the UAV, allowing the UAV to maintain a fixed pose relative to the UGV. Furthermore, the UAV uses its front facing camera to provide a birds-eye-view to the remote operator, allowing for observation beyond obstacles that obscure the UGV's sensors. The proposed approach has been tested using a TurtleBot 2 equipped with a Hokuyo laser ranger finder and a Parrot Bebop 2. Experimental results demonstrate the feasibility of this approach. This work is based on several open source packages and the generated code is available on-line.