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空地机器人协作导航方法与实验研究
Alternative TitleTheoretical and Experimental Study of Air-Ground Cooperative Navigation
谷丰; 王争; 宋崎; 陈盛福; 何玉庆; 韩建达
Department机器人学研究室
Conference Name2012 31th Chinese Control Conference
Conference DateJuly 25-27, 2012
Conference PlaceHefei, China
Author of SourceTechnical Committee on Control Theory,Chinese Association of Automation
Source PublicationProceedings of the 31st Chinese Control Conference
PublisherChinese Association of Automation
Publication PlaceBeijing
2012
Pages6333-6338
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130716024551
WOS IDWOS:000393905906080
Contribution Rank1
Keyword空地机器人 Ycbcr颜色空间 波门跟踪 多旋翼飞行机器人实验平台
Abstract飞行机器人和地面移动机器人所具有的功能互补性使得通过二者间的协作执行使命具有明显的优越性,这对于提高移动机器人使命完成度具有重要的作用。因此,空地机器人协作近年越来越得到了研究人员的重视。空地机器人协作的一个重要工作模式即通过飞行机器人的大范围环境感知能力为地面机器人提供导航信息。本论文针对该问题开展了方法与实验研究。文章首先讨论了利用机载视觉传感信息实现地面环境建模(主要是地面障碍物)及地面机器人识别方法;接着,利用波门跟踪算法实现了对地面移动机器人的运动跟踪;随后,提出了空地机器人协作策略;最后,搭建了室内试验平台,进行了实验验证。
Other AbstractThe Air-Ground robots cooperation has much superiority for they are function complementary,which is very important for the application.Thus,more and more attentions have been paid to the Air-Ground cooperation researches.One of the important cooperation modes is that with its wide environment perception the aerial robot supplies the navigation information for the ground robot.Based on the problem,theory and experiment are studied in this paper.The environmental modeling and target identification based on th...
Language中文
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10229
Collection机器人学研究室
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
谷丰,王争,宋崎,等. 空地机器人协作导航方法与实验研究[C]//Technical Committee on Control Theory,Chinese Association of Automation. Beijing:Chinese Association of Automation,2012:6333-6338.
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