Towards solving an obstacle problem by the cooperation of UAVs and UGVs

Authors:
Shigeo Nakamura;Hiroyuki Nakagawa;Yasuyuki Tahara;Akihiko Ohsuga
Affiliations:
The University of Electro-Communications, Tokyo, Japan;The University of Electro-Communications, Tokyo, Japan;The University of Electro-Communications, Tokyo, Japan;The University of Electro-Communications, Tokyo, Japan
Venue:
Proceedings of the 28th Annual ACM Symposium on Applied Computing
Year:
2013

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Abstract

We study a heterogeneous autonomous robot team composed of UAVs (Unmanned Air Vehicles) and UGVs (Unmanned Ground Vehicles) cooperate with each other to carry out global tasks. We introduce the system that UAVs and UGVs remove obstacles cooperatively. In our system, there are multiple type UGVs that have good points and shortcomings, and these UGVs remove a obstacle that block the way. Therefore, our systems can deal with more value of obstacles than existing systems. However our system is more complicated and has many problems to be solved. Therefore, we clarified the problems that our system need to be realized and implemented the robots. The system determines some ways to remove the obstacles using the aerial photograph taken by the UAV and the information of the obstacles by the UGVs, and then outputs a processed aerial photograph and some ways to remove the obstacles. The experimental results reminded us some necessary things for to carry out our goal. Our study has the goal that the autonomous robot team explores under unknown environment such as planetary explorations, or performs search and rescue operations in disaster areas.