Towards a ground navigation system based in visual feedback provided by a mini UAV

Garzón Oviedo, Mario Andrei and Pereira Valente, Joao Ricardo and Zapata, David and Chill, Rigoberto and Barrientos Cruz, Antonio (2012). Towards a ground navigation system based in visual feedback provided by a mini UAV. In: "2012 International IEEE Intelligent Vehicles Symposium W5: "Perception in robotics"", June 3rd 2012, Alcalá de Henares, Spain. ISBN 978-84-695-3472-4.

Description

Title: Towards a ground navigation system based in visual feedback provided by a mini UAV
Author/s:
  • Garzón Oviedo, Mario Andrei
  • Pereira Valente, Joao Ricardo
  • Zapata, David
  • Chill, Rigoberto
  • Barrientos Cruz, Antonio
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2012 International IEEE Intelligent Vehicles Symposium W5: "Perception in robotics"
Event Dates: June 3rd 2012
Event Location: Alcalá de Henares, Spain
Title of Book: Proceedings of the 2012 International IEEE Intelligent Vehicles Symposium Workshops
Date: 3 June 2012
ISBN: 978-84-695-3472-4
Subjects:
Freetext Keywords: autonomous navigation; cooperative perception; obstacle avoidance; outdoor mapping; collaborative robotics; UGV; UAV
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition

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Abstract

This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from a mini aerial vehicle. A visual-based algorithm computes the ground vehicle pose in the world frame, as well as possible obstacles within the ground vehicle pathway. Relying on that information, a navigation and obstacle avoidance system is used to re-plan the ground vehicle trajectory, ensuring an optimal detour. Finally, some experiments are presented employing a unmanned ground vehicle (UGV) and a low cost mini unmanned aerial vehicle (UAV).

More information

Item ID: 16245
DC Identifier: http://oa.upm.es/16245/
OAI Identifier: oai:oa.upm.es:16245
Official URL: http://www.robesafe.es/iv2012/
Deposited by: Mario Andrei Garzón Oviedo
Deposited on: 08 Jul 2013 08:19
Last Modified: 18 Aug 2017 10:38
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