Title :
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
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;
Conference_Titel :
Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on
Conference_Location :
Linkoping
Print_ISBN :
978-1-4799-0879-0
DOI :
10.1109/SSRR.2013.6719363
