| Autor: |
Xi A′xing, Zhao Jin, Zhou Tao, Hu Qiuxia |
| Jazyk: |
čínština |
| Rok vydání: |
2019 |
| Předmět: |
|
| Zdroj: |
Dianzi Jishu Yingyong, Vol 45, Iss 1, Pp 5-9 (2019) |
| Druh dokumentu: |
article |
| ISSN: |
0258-7998 |
| DOI: |
10.16157/j.issn.0258-7998.182261 |
| Popis: |
It is difficult for a single robot to perform tasks in a complex environment, so Unmanned Air/Ground Vehicle(UAV/UGV) cooperative systems have been widely concerned. In order to improve the efficiency of UAV/UGV cooperative systems, a global path planning for UGV under the target recognized by UAV was proposed. Firstly, SURF algorithm was studied in identify targets and image segmentation was applied to build a map. Then, the optimized A* algorithm was proposed in global path planning for UGV based on the information acquired by UAV. Finally, simulations were performed in a typical rescue scenario. Experiments show that SURF algorithm can achieve the accuracy, real-time and robustness of target recognition. The optimized A* algorithm can achieve the feasibility and real-time of global path planning. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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