Towards a ground navigation system based in visual feedback provided by a mini UAV
作者： Mario Andrei Garzón Oviedo , Rigoberto Chill , Joao Ricardo Pereira Valente , Antonio Barrientos Cruz , David Zapata
DOI:
关键词: Obstacle avoidance 、 Artificial intelligence 、 Visual feedback 、 Engineering 、 Frame (networking) 、 Trajectory 、 Unmanned ground vehicle 、 Computer vision 、 Navigation system 、 Ground vehicles
摘要: This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from mini aerial vehicle. A visual-based algorithm computes the vehicle pose in world frame, as well possible obstacles within pathway. Relying on that information, and obstacle avoidance is used re-plan trajectory, ensuring an optimal detour. Finally, some experiments are presented employing unmanned (UGV) low cost (UAV).
参考文章(9)
Christian Fiederling, Joao Ricardo Pereira Valente, Antonio Barrientos Cruz, Alexander Martínez Álvarez, Field Tests with an Aerial-Ground Convoy System for Collaborative Tasks Actas del 8º Workshop Robots de Exteriores, Robocity 2030-II | 8º Workshop Robots de Exteriores, Robocity 2030-II | 02/12/2010 - 02/12/2010 | Madrid, España. ,(2010)
Nguyen Xuan Dao, Bum-Jae You, Sang-Rok Oh, Visual navigation for indoor mobile robots using a single camera intelligent robots and systems. pp. 1992- 1997 ,(2005) , 10.1109/IROS.2005.1545494
Erica Zawodny MacArthur, Donald MacArthur, Carl Crane, Use of cooperative unmanned air and ground vehicles for detection and disposal of mines Intelligent Systems in Design and Manufacturing VI. ,vol. 5999, pp. 599909- ,(2005) , 10.1117/12.631314
R. Vidal, S. Rashid, C. Sharp, O. Shakernia, Jin Kim, S. Sastry, Pursuit-evasion games with unmanned ground and aerial vehicles international conference on robotics and automation. ,vol. 3, pp. 2948- 2955 ,(2001) , 10.1109/ROBOT.2001.933069
L. Chaimowicz, B. Grocholsky, J.F. Keller, Vijay Kumar, C.J. Taylor, Experiments in multirobot air-ground coordination international conference on robotics and automation. ,vol. 4, pp. 4053- 4058 ,(2004) , 10.1109/ROBOT.2004.1308905
S. Ishikawa, H. Kuwamoto, S. Ozawa, Visual navigation of an autonomous vehicle using white line recognition IEEE Transactions on Pattern Analysis and Machine Intelligence. ,vol. 10, pp. 743- 749 ,(1988) , 10.1109/34.6786
Connie Phan, Hugh H.T. Liu, A cooperative UAV/UGV platform for wildfire detection and fighting international conference on semantic computing. pp. 494- 498 ,(2008) , 10.1109/ASC-ICSC.2008.4675411
A. Cherubini, F. Chaumette, Visual navigation with obstacle avoidance intelligent robots and systems. pp. 1593- 1598 ,(2011) , 10.1109/IROS.2011.6094464
M. Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, Andrew Y Ng, ROS: an open-source Robot Operating System international conference on robotics and automation. ,(2009)