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Cooperative μUAV-UGV autonomous indoor surveillance

机译:μUAV-UGV合作式自主室内监控

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摘要

In this paper, we present a heterogenous UGV-UAV system cooperatively solving tasks of periodical surveillance in indoor environments. In the proposed scenario, the UGV is equipped with an interactive helipad and it acts as a carrier of the UAV. The UAV is a light-weight quadro-rotor helicopter equipped with two cameras, which are used to inspect locations inaccessible for the UGV. The paper is focused on the most crucial aspects of the proposed UAV-UGV periodical surveillance that are visual navigation, localization and autonomous landing that need to be done periodically. We propose two concepts of mobile helipads employed for correction of imprecise landing of the UAV. Beside the description of the visual navigation, relative localization and both helipads, a study of landing performance is provided. The performance of the complex system is proven by an experiment of autonomous periodical surveillance in a changing environment with presence of people.
机译:在本文中,我们提出了一种异构UGV-UAV系统,可以协同解决室内环境中的定期监视任务。在提出的方案中,UGV配备了交互式直升机停机坪,并充当了无人机的载体。无人机是一种轻型四旋翼直升机,配有两个摄像头,用于检查无人飞行器无法到达的位置。本文的重点是拟议的UAV-UGV定期监视的最关键方面,即视觉导航,定位和自主着陆,需要定期进行。我们提出了用于纠正无人机不精确着陆的移动直升机停机坪的两个概念。除了对视觉导航,相对定位和两个直升机停机坪的描述之外,还对着陆性能进行了研究。复杂系统的性能通过在不断变化的环境中有人员在场的情况下进行的自动定期监视实验来证明。

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