UAV/UGV COOPERATION TO IMPROVE NAVIGATION CAPABILITIES OF A MOBILE ROBOT IN UNSTRUCTURED ENVIRONMENTS

被引：0
|
作者：
Cantelli, L. [1 ]
Laudani, P. [1 ]
Melita, C. D. [1 ]
Muscato, G. [1 ]
机构：
[1] Univ Catania, DIEEI, Catania, Italy
来源：
ADVANCES IN COOPERATIVE ROBOTICS | 2017年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：217 / 224
页数：8
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