空地机器人协作导航方法与实验研究

飞行机器人和地面移动机器人所具有的功能互补性使得通过二者间的协作执行使命具有明显的优越性,这对于提高移动机器人使命完成度具有重要的作用.因此,空地机器人协作近年越来越受到研究人员的重视.空地机器人协作的一个重要工作模式是通过飞行机器人的大范围环境感知能力为地面机器人提供导航信息.针对该问题,首先讨论了利用机载视觉传感信息实现地面环境建模(主要是地面障碍物)及地面机器人识别方法;然后,利用波门跟踪算法实现了对地面移动机器人的运动跟踪;最后,提出了空地机器人协作策略;最后,搭建了室内试验平台,进行了实验验证.

Theoretical and experimental study of air-ground cooperative navigation

Air-ground robot cooperation has an obvious superiority due to the functional complementarity,which is very important for the application.Thus,more and more attention has been paid to air-ground cooperation researches.One of the important cooperation modes is that,with its wide environment perception,the aerial robot supplies navigation information to the ground robot.Theories and experiments are thus carried out in this regard.The environmental modeling and target identification based on the airborne CCD sensor are first researched.Then the window tracking method is proposed to achieve target tracking.Finally,the motion based cooperative collision avoidance experiment is conducted to verify the proposed method.