非确定环境下无人机与无人车动态协同设计

Dynamic Collaborative Design of UGV and UAV in Uncertain Environment

空地协同系统具有非常广阔的应用前景,受到了世界各国的广泛关注。无人车在地面工作主要存在视野较小、对周围的环境没有一个比较宏观的掌握的缺点,无人机则可以通过携带的传感器大范围地进行环境的感知。但是无人机大多存在工作时间较短、负载较轻等问题。空地协同系统可以很好地弥补无人机、无人车各自工作时的缺点。本文概要介绍了一种非确定环境下的空地协同系统设计。在该系统中,无人机/无人车有效融合二者获取不同数据,完成了构建地图、实时定位和协同工作。本文概要介绍了该系统的项目意义、工作原理、研究方法等,旨在为相关领域科研工作和后续立项提供参考,并通过交流,深入思考如何更好地实现预期目标。

Air-ground coordination has a very broad prospect. It has better field vision than singe use of Unmanned Ground Vehicle(UGV) and longer working time and larger load than Unmanned Aerial Vehicle(UAV). In this paper, a design of air-ground coordination system in uncertain environment is introduced. The system effectively fuses the different data separately acquired by UGV and UAV, and then completes the maps, real-time positioning and coordination work. And the value of the project, the working principles and the research methods are also proposed in this paper. The system is expected to provide reference for the follow-up projects of the related research.