UAV-UGV collaboration with a PackBot UGV and Raven SUAV for pursuit and tracking of a dynamic target

Abstract

Fielded military unmanned systems are currently extending the reach of the U.S. forces in surveillance and reconnaissance missions. Providing long-range eyes on enemy operations, unmanned aerial vehicles (UAVs), such as the AeroVironment Raven, have proven themselves indispensable without risking soldiers' lives. Meanwhile, unmanned ground vehicles (UGVs), such as the iRobot PackBot, are quickly joining ranks in Explosive Ordnance Disposal (EOD) missions to identify and dispose of ordnance or to clear roads and buildings. UAV-UGV collaboration and the benefit of force multiplication is increasingly more tangible. iRobot Corporation and CMU Robotics Institute are developing the capability to simultaneously control the Raven small UAV (SUAV) and PackBot UGV from a single operator control unit (OCU) via waypoint navigation. Techniques to support autonomous collaboration for pursuing and tracking a dismounted soldier will be developed and integrated on a Raven-PackBot team. The Raven will survey an area and geolocate an operator-selected target. The Raven will share this target location with the PackBot and together they will collaboratively pursue the target intelligently to maintain track on the target. We will accomplish this goal by implementing a decentralized control and data fusion software architecture. The PackBot will be equipped with on-board waypoint navigation algorithms, a Navigator Payload containing a stereo-vision system, GPS, and a high-accuracy IMU. The Raven will have two on-board cameras, a side-looking and a forward-looking optical camera. The Supervisor OCU will act as the central mission planner, allowing the operator to monitor mission events and override vehicle tasks.