基于无人机环境信息的UGV自主导航与无传感器避障

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI:10.1109/IRC.2018.00056

Harikumar Kandath, Titas Bera, Rajarshi Bardhan, S. Sundaram

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引用次数: 21

摘要

研究了无人地面车辆在传感器故障情况下的避障问题。在传感器失效的情况下，配备视觉传感器的无人驾驶飞行器(UAV)的作用类似于UGV的车队保护剂。无人机根据UGV的预期未来轨迹来规划其轨迹。无人潜航器从无人机获取障碍物等地理约束信息后，重新规划其飞行轨迹。在室外环境下，利用配备摄像头的自主无人机和基于GPS定位和无人机环境信息的自主UGV导航，对所提出的避障方法进行了实验验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Autonomous Navigation and Sensorless Obstacle Avoidance for UGV with Environment Information from UAV

The problem of obstacle avoidance for an unmanned ground vehicle (UGV) under the event of sensor failure is addressed in this paper. An unmanned air vehicle (UAV) equipped with a vision sensor act similar to a convoy protection agent to UGV in the event of a sensor failure. The UAV plans its trajectory according to the UGV's expected future trajectory. The UGV replans its trajectory after obtaining the information about geographic constraints like obstacles from UAV. The proposed obstacle avoidance method is experimentally validated in the outdoor environment with an autonomous UAV equipped with a camera and an autonomous UGV navigating based on GPS localization and environment information from the UAV.

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2018 Second IEEE International Conference on Robotic Computing (IRC)

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