UAV-UGV Collaborative Localisation with Ambiguity Aversion by UAV Re-positioning

被引：2
作者：
De Silva, A. H. T. E. [1 ]
Katupitiya, Jay [1 ]
Savkin, Andrey, V [2 ]
机构：
[1] UNSW, Sch Mech & Mfg Engn, Sydney, NSW, Australia
[2] UNSW, Sch Elect Engn & Telecommun, Sydney, NSW, Australia
来源：
IFAC PAPERSONLINE | 2022年 / 55卷 / 32期
基金：
澳大利亚研究理事会;
关键词：
UAV-UGV collaboration; GNSS denied localisation;
D O I：
10.1016/j.ifacol.2022.11.122
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this research, a location and heading estimation method has been proposed, which is suitable to localise agricultural robots which are used for the sub-plantation management in inter-cropping. The proposed localisation is a range-only localisation method, where UAVs which are equipped with Ultra Wide Band (UWB) range sensors are to be used for localisation. In order to keep the number of UAVs to a minimum in this project, only two UAVs are used. This paper presents methodologies that were developed and validated by simulations, to address the challenges in this resource stricken localisation method. Copyright (C) 2022 The Authors.
引用
收藏
页码：101 / 106
页数：6
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