Ground-based Search and Retrieve using Aerial Localisation
نویسندگان
چکیده
Co-operative ground / aerial vehicle pairs can potentially be utilised for search and retrieve applications in disaster scenarios. A simplified setup has been implemented using an iRobot Create platform, coloured retrieval targets and a roof-mounted camera for localisation. This paper outlines the design of the entire system, with particular emphasis on perception, navigation, guidance and control subsystems. Preliminary vehicle test results are presented and discussed, and potential future improvements are suggested.
منابع مشابه
Absolute High-Precision Localisation of an Unmanned Ground Vehicle by Using Real-Time Aerial Video Imagery for Geo-referenced Orthophoto Registration
This paper describes an absolute localisation method for an unmanned ground vehicle (UGV) if GPS is unavailable for the vehicle. The basic idea is to combine an unmanned aerial vehicle (UAV) to the ground vehicle and use it as an external sensor platform to achieve an absolute localisation of the robotic team. Beside the discussion of the rather naive method directly using the GPS position of t...
متن کامل3D Detection of Power-Transmission Lines in Point Clouds Using Random Forest Method
Inspection of power transmission lines using classic experts based methods suffers from disadvantages such as highel level of time and money consumption. Advent of UAVs and their application in aerial data gathering help to decrease the time and cost promenantly. The purpose of this research is to present an efficient automated method for inspection of power transmission lines based on point c...
متن کاملAutomatic Geolocation of Targets Tracked by Aerial Imaging Platforms Using Satellite Imagery
Tracking of targets from aerial platforms is an important activity in several applications, especially surveillance. Knowledge of geolocation of these targets adds additional significant and useful information to the application. This paper determines the geolocation of a target being tracked from an aerial platform using the technique of image registration. Current approaches utilize a POS to ...
متن کاملA localisation system for an indoor rotary-wing MAV using blade mounted LEDs
Purpose – The purpose of this paper is to present a localisation system for an indoor rotary-wing micro aerial vehicle (MAV) that uses three onboard LEDs and base station mounted active vision unit. Design/methodology/approach – A pair of blade mounted cyan LEDs and a tail mounted red LED are used as on-board landmarks. A base station tracks the landmarks and estimates the pose of the MAV in re...
متن کاملQuadrotor UAV Guidence For Ground Moving Target Tracking
The studies in aerial vehicles modeling and control have been increased rapidly recently. In this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. In this paper the UAV plays the role of a virtual leader for the UGVs. The system consists of a vision- based target detection algorithm that uses the ...
متن کامل