UAV-UGV cooperation for objects transportation in an industrial area

Author

Harik, El Houssein Chouaib ; Guerin, Francois ; Guinand, Frederic ; Brethe, Jean-Francois ; Pelvillain, Herve

Author_Institution

LITIS, Univ. of Le Havre, Le Havre, France

fYear

2015

fDate

17-19 March 2015

Firstpage

547

Lastpage

552

Abstract

We present in this paper a decentralized multirobot (aerial and ground) cooperation scheme for objects transportation. A team of ground mobile robots guided by a drone and a human operator moves in a coordinated way keeping a predefined formation in order to carry objects (tools, gas masks,...) in unsafe industrial areas. One ground mobile robot (leader) navigates among obstacles thanks to the waypoints provided by the drone and the human operator. The other ground mobile robots (followers) use a predictive vision based target tracking controller to keep a certain distance and bearing to the leader.

Keywords

autonomous aerial vehicles; industrial robots; mobile robots; multi-robot systems; object tracking; robot vision; transportation; UAV-UGV cooperation; decentralized multirobot cooperation scheme; drone; ground mobile robots; human operator; industrial area; object transportation; predictive vision based target tracking controller; unmanned aerial vehicles; unmanned ground vehicles; Cameras; Computer architecture; Kinematics; Machine vision; Navigation; Prediction algorithms; Real-time systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology (ICIT), 2015 IEEE International Conference on

Conference_Location

Seville

Type

conf

DOI

10.1109/ICIT.2015.7125156

Filename

7125156