Cooperative Micro UAV-UGV Autonomous Indoor Surveillance

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00192385" target="_blank" >RIV/68407700:21230/12:00192385 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Cooperative Micro UAV-UGV Autonomous Indoor Surveillance
Original language description
In this paper, we present a heterogenous UGV-UAV system cooperatively solving tasks of periodical surveillance in indoor environments. In the proposed scenario, the UGV is equipped with an interactive helipad and it acts as a carrier of the UAV. The UAVis a light-weight quadro-rotor helicopter equipped with two cameras, which are used to inspect locations inaccessible for the UGV. The paper is focused on the most crucial aspects of the proposed UAV-UGV periodical surveillance that are visual navigation, localization and autonomous landing that need to be done periodically. We propose two concepts of mobile helipads employed for correction of imprecise landing of the UAV. Beside the description of the visual navigation, relative localization and both helipads, a study of landing performance is provided. The performance of the complex system is proven by an experiment of autonomous periodical surveillance in a changing environment with presence of people.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
International Multi-Conference on Systems, Signals and Devices
ISBN
978-3-9814766-1-3
ISSN
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e-ISSN
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Number of pages
1
Pages from-to
36
Publisher name
IEEE
Place of publication
Piscataway
Event location
Chemnitz
Event date
Mar 20, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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