UAV/UGV cooperation for surveying operations in humanitarian demining

Author

Cantelli, L. ; Mangiameli, M. ; Melita, C.D. ; Muscato, G.

Author_Institution

Dipt. di Ing. Elettr. Elettron. e Inf., Univ. degli Studi di Catania, Catania, Italy

fYear

2013

fDate

21-26 Oct. 2013

Firstpage

1

Lastpage

6

Abstract

Unmanned Ground Vehicles can be a useful tool to help operators in humanitarian demining. However in many difficult environments autonomous operations are impossible and moreover it can be really difficult to teleoperate the robot from an onboard camera. This work presents an architecture to allow cooperation between a ground robot and a quadrotor UAV. The UAV can autonomously follow the ground robot, by using an image processing algorithm. In this way aerial images are provided that can help trajectory planning in rough environments, via a developed webGIS platform.

Keywords

autonomous aerial vehicles; cameras; geographic information systems; helicopters; mobile robots; multi-robot systems; path planning; robot vision; surveying; telerobotics; trajectory control; UAV-UGV cooperation; aerial images; ground robot; humanitarian demining; image processing algorithm; onboard camera; quadrotor UAV; surveying operations; teleoperation; trajectory planning; unmanned aerial vehicle; unmanned ground vehicle; webGIS platform; Cameras; Light emitting diodes; Robots; Spatial databases; Trajectory; Vectors; Vehicles; GIS; Robot cooperation; UAV; UGV; Vision tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on

Conference_Location

Linkoping

Print_ISBN

978-1-4799-0879-0

Type

conf

DOI

10.1109/SSRR.2013.6719363

Filename

6719363