Unmanned vehicle air-ground coordination system
Honors Capstone Project
1
Advisor(s)
Dr. Firas Hassan
Confirmation
1
Document Type
Paper
Location
Dean's Heritage Room
Start Date
16-4-2024 2:15 PM
End Date
16-4-2024 5:45 PM
Abstract
In environments with unknown terrain, poor GPS quality, or complex obstacles, unmanned ground vehicles (UGVs) may be teamed with unmanned aerial vehicles (UAVs) to aid them in navigating to objectives. The UAV provides a bird’s-eye view of the surrounding area to the UGV, which fuses this data with its own sensor data to plan navigation tracks through the operating area. This study evaluates the economic and technological challenges of building a visual air-ground coordination system on a UAV-UGV pair using off-the-shelf components and open source software libraries. The system aims to increase the reliability and accuracy of UGV localization over conventional GPS localization by constraining position errors to only the region of ground visible to the UAV’s camera.
Recommended Citation
Hagerdorn, Nathan, "Unmanned vehicle air-ground coordination system" (2024). ONU Student Research Colloquium. 1.
https://digitalcommons.onu.edu/student_research_colloquium/2024/papers/1
Level of Access
Open Access
Open Access
Available to all.
Unmanned vehicle air-ground coordination system
Dean's Heritage Room
In environments with unknown terrain, poor GPS quality, or complex obstacles, unmanned ground vehicles (UGVs) may be teamed with unmanned aerial vehicles (UAVs) to aid them in navigating to objectives. The UAV provides a bird’s-eye view of the surrounding area to the UGV, which fuses this data with its own sensor data to plan navigation tracks through the operating area. This study evaluates the economic and technological challenges of building a visual air-ground coordination system on a UAV-UGV pair using off-the-shelf components and open source software libraries. The system aims to increase the reliability and accuracy of UGV localization over conventional GPS localization by constraining position errors to only the region of ground visible to the UAV’s camera.