Toward effective collaboration and tracking strategy for ground robot to assist longer missions of aerial robot DOI Creative Commons
Ashok Kumar Sivarathri, Amit Shukla

International Journal of Advanced Robotic Systems, Год журнала: 2025, Номер 22(2)

Опубликована: Март 1, 2025

Aerial-ground robotic system is a potential candidate for autonomous applications such as target tracking, inspection, agriculture, and environmental mapping. Tracking motion between UAV (unmanned aerial vehicle) AGV (autonomous ground one of the basic collaborative tasks during execution missions. spatially omnidirectional, thus, can trivially track to provide navigation guidance from vantage point. also required providing continuous support (payload tethered charging) mission. However, vehicle tracking not given much attention in literature. Moreover, nonholonomic AGVs are suitable effective collaboration due their poor mobility. Consequently, they hinder overall efficiency Thus, this work, we introduce combination 4-WISD (4 wheeled independent steering driving) address these problems. As vehicles expensive market research perspective, developed current research. ROS (Robot Operating System)-based control package general usage. Then, vision-based strategies (nonholonomic vehicles) GPS (Global Positioning System) denied outdoor conditions. Ground localized using monocular camera IMU (Inertial Measurement Unit) sensors. Kinematic controllers have been sliding mode method. Lyapunov stability proven controllers. Experiments performed on hardware validate strategies. show satisfactory performance A qualitative comparison both presented. Combination becomes partially omnidirectional which leverages mobility system.

Язык: Английский

Autonomous Non-Communicative Navigation Assistance to the Ground Vehicle by an Aerial Vehicle DOI Creative Commons
Ashok Kumar Sivarathri, Amit Shukla

Machines, Год журнала: 2025, Номер 13(2), С. 152 - 152

Опубликована: Фев. 17, 2025

Vision-based UAV-AGV (Unmanned Aerial Vehicle–Autonomous Ground Vehicle) systems are prominent for executing tasks in GPS (Global Positioning System)-inaccessible areas. One of the roles UAV is guiding navigation AGV. Reactive/mapless assistance to an AGV from a well known and suitable computationally less powerful systems. This method requires communication between both agents during as per state art. However, delays failures will cause tasks, especially outdoor missions. In present work, we propose mapless technique AGVs assisted by UAVs without obstacles AGVs. The considered scenario that undergoing sensor module failure completely dependent on its safe navigation. goal take destination while it avoid obstacles. We exploit autonomous tracking task obstacle avoidance. particular, motion exploited YOLO (You Only Look Once) v8 has been implemented detect drone camera. sliding mode control avoidance control. job localize image plane guide communicating with it. Experimental results presented validate proposed method. proves be significant when non-communicating experiencing sudden failure.

Язык: Английский

Процитировано

0
Multirotor UAV—A Multidisciplinary Platform for Teaching Mechatronics Engineering DOI Creative Commons
Denis Kotarski, Marko Pranjić, Ayham Alharbat

и другие.

Sensors, Год журнала: 2025, Номер 25(4), С. 1007 - 1007

Опубликована: Фев. 8, 2025

This paper provides a comprehensive guide for educators on how multirotor UAV platforms can be utilized to achieve various learning outcomes in undergraduate mechatronics education. study is based PX4 ecosystem combined with the MATLAB Simulink programming environment, covering both hardware and software aspects support engineering The explains (i) which obtained, (ii) mathematical models derived implemented simulation software, (iii) components are essential, their approximate costs, possible upgrades available budgets, (iv) experiments students perform using platform. A proposed educational prototype integrates airframe parts produced additive manufacturing technologies standard components. Additionally, series of were designed, including extensive testing control module. Three related incorporated into curriculum, while two software-related addressed through student workshops. Future plans include implementation multiple process further enhance outcomes.

Язык: Английский

Процитировано

0
Toward effective collaboration and tracking strategy for ground robot to assist longer missions of aerial robot DOI Creative Commons
Ashok Kumar Sivarathri, Amit Shukla

International Journal of Advanced Robotic Systems, Год журнала: 2025, Номер 22(2)

Опубликована: Март 1, 2025

Aerial-ground robotic system is a potential candidate for autonomous applications such as target tracking, inspection, agriculture, and environmental mapping. Tracking motion between UAV (unmanned aerial vehicle) AGV (autonomous ground one of the basic collaborative tasks during execution missions. spatially omnidirectional, thus, can trivially track to provide navigation guidance from vantage point. also required providing continuous support (payload tethered charging) mission. However, vehicle tracking not given much attention in literature. Moreover, nonholonomic AGVs are suitable effective collaboration due their poor mobility. Consequently, they hinder overall efficiency Thus, this work, we introduce combination 4-WISD (4 wheeled independent steering driving) address these problems. As vehicles expensive market research perspective, developed current research. ROS (Robot Operating System)-based control package general usage. Then, vision-based strategies (nonholonomic vehicles) GPS (Global Positioning System) denied outdoor conditions. Ground localized using monocular camera IMU (Inertial Measurement Unit) sensors. Kinematic controllers have been sliding mode method. Lyapunov stability proven controllers. Experiments performed on hardware validate strategies. show satisfactory performance A qualitative comparison both presented. Combination becomes partially omnidirectional which leverages mobility system.

Язык: Английский

Процитировано

0