Unmanned Ground Vehicle State Estimation using an Unmanned Air Vehicle

—Unmanned Air Vehicles (UAVs) have several advantages and disadvantages compared with Unmanned Ground Vehicles (UGVs). Both systems have different mobility and perception abilities. UAV systems have extended perception, tracking, and mobility capabilities compared with UGVs. UGVs have more intimate mobility and manipulation capabilities. This paper will present the research that has been conducted in the collaboration of UAVs and UGVs. This research will demonstrate the use of a passive UAV system for tracking and state estimation of a UGV. This paper will discuss the UAV sensors and avionics, present the algorithms for combining the UGV kinematics equations and the geopositioning algorithms used on the UAV to form a robust UGV state estimation, and present experimental results.

• Type: Conference
• Year: 2007
• Where: CIRA
• Authors: Donald K. MacArthur, Carl D. Crane III
• Keywords: CIRA 2007, Robotics, State Estimation, UAV Systems, Unmanned Ground Vehicles