Teaming of an UGV with a VTOL-UAV in Urban Environments

N. Frietsch, O. Meister, C. Schlaile, and G.F. Trommer

Abstract:	This paper focuses on the teaming of a small unmanned ground vehicle (UGV) with an unmanned micro aerial vehicle (MAV) in order to improve the navigation solution of the UGV e. g. in the case of GPS loss. The image data that is acquired by the on-board camera of the MAV is processed in order to detect the UGV marked by a colored pattern. After the identification of the UGV's location in an image, the location of the UGV with respect to a geo-coordinate system and its yawangle are estimated by taking the MAV's position and attitude into account. Finally, this information is processed in the system on-board the UGV to improve the navigation solution. The performances of the particular parts of the setup and also of the whole system are illustrated with experimental data.
Published in:	Proceedings of IEEE/ION PLANS 2008 May 6 - 8, 2008 Hyatt Regency Hotel Monterey, CA
Pages:	1278 - 1285
Cite this article:	Frietsch, N., Meister, O., Schlaile, C., Trommer, G.F., "Teaming of an UGV with a VTOL-UAV in Urban Environments," Proceedings of IEEE/ION PLANS 2008, Monterey, CA, May 2008, pp. 1278-1285. https://doi.org/10.1109/PLANS.2008.4570081
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In