Unmanned aerial vehicle and unmanned ground robot collaborative tracking and obstacle avoidance system and method

Abstract

The invention discloses an unmanned aerial vehicle and unmanned ground robot collaborative tracking and obstacle avoidance system and method. The system comprises an unmanned aerial vehicle and an unmanned ground robot each of which is provided with a wireless communication module, a GPS module and a power module; the unmanned aerial vehicle further comprises a flight control unit, an onboard computing processing unit, a multi-sensor fusion inertial navigation module and a camera; and the unmanned ground robot further comprises an onboard control unit, an obstacle detection module and a navigation module. According to the obstacle avoidance method, a camera transmits photographed images to an onboard computing processing unit; after a road obstacle is identified, a passable path is generated, and an unmanned ground robot is accurately positioned; a planned advancing obstacle avoidance route is transmitted to the unmanned ground robot, so that navigation control can be performed; an obstacle detection module returns obstacle position and orientation information to an onboard computing processing unit, so that the route can be updated; and therefore, the unmanned ground robot can navigate autonomously in a complex environment, and the success rate and stability of tracking and obstacle avoidance can be improved.

Description

technical field [0001] The invention relates to the technical field of autonomous positioning of unmanned aerial vehicles and robots, in particular to an obstacle avoidance system and a method thereof for cooperation between an unmanned aerial vehicle and an unmanned ground robot. Background technique [0002] The rapid development of UAV and unmanned ground robot technology makes it widely used in the field of disaster relief. For post-disaster scenarios that pose a potential threat to human life safety such as earthquakes and nuclear pollution, the high mobility of drones can be used to quickly arrive at the scene for investigation, search and rescue, and disaster assessment. Favorable information; the use of ground robots can carry urgently needed rescue materials to the disaster site, and realize the search and rescue of the wounded. However, there may be factors such as houses and trees collapsed and obstacles blocked in the disaster-affected area. The search and rescu...

AI Technical Summary

Problems solved by technology

However, there are some problems and defects in the application of this kind of navigation technology in disaster rescue, which are as follows: (1) the accuracy of civilian GPS is only about 10 meters, and the signal is easily lost due to the influence of buildings and trees. Terrain or complex environments may make navigation deviate

It is not economical to use professional-grade high-precision GPS

(2) The pre-stored map information cannot provide the distribution of obstacles along the road, especially in disaster-stricken areas with many obstacles, which will cause great trouble to unmanned ground robots traveling according to preset path points

(3) Existing obstacle sensing methods cannot achieve the purpose of avoiding obstacles through active planning of the optimal path

[0004] The ground-air joint collaborative search and rescue system has the following problems: 1. UAVs and crawler robots rely on existing wireless communication means to communicate with servers to obtain information such as forward routes and search and rescue areas

In disaster-affected areas, the basic wireless communication infrastructure is likely to be damaged, making this method no longer applicable

2. The crawler robot formation advances along the preset path to perform search and rescue tasks, and only obtains real-time location information in a complex environment through GPS. It lacks the ability to perceive road obstacles, and it is very likely to cause collision damage due to obstacles blocking the passage.

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