Theoretical and experimental study of Air-Ground cooperative navigation

摘要

The Air-Ground robots cooperation has much superiority for they are function complementary, which is very important for the application. Thus, more and more attentions have been paid to the Air-Ground cooperation researches. One of the important cooperation modes is that with its wide environment perception the aerial robot supplies the navigation information for the ground robot. Based on the problem, theory and experiment are studied in this paper. The environmental modeling and target identification based on the airborne CCD sensor are first researched. Then the window tracking method is proposed to achieve the target tracking. In the final, the motion based cooperative collision avoidance experiment is set to verify the proposed method.