On cooperation between a fuel constrained UAV and a refueling UGV for large scale mapping applications

摘要: Aerial surveillance and mapping is a primary application area for small Unamnned Vehicles (UAVs). Large areas may need to be mapped, leading long missions. However, mission duration restricted by the fuel capacity of UAV. This necessitates refueling UAV successful completion. All points interest not reachable from single station hence multiple stations are required. Further, cannot placed anywhere in region, due terrain restrictions. On other hand, based on placement stations, routes must designed. Therefore, route planning coupled problems obtaining optimal solutions difficult. In this paper, we develop greedy strategy coordination between mobile UGV accomplishment. We built simulation platform Matlab test validate strategy. Field experiments also conducted using quad-rotor proposed