Autonomous Behavior Based Navigation between Aerial and Ground Mobile Robot

• Main Authors: Hung The Nguyen, 阮世雄
• Other Authors: Min-Fan Lee
• Format: Others
• Language: en_US
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/26953293474477436975

碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 102 === Disaster search and rescue, environment monitoring, and security surveillance are the fields that had strong boost in utilization of Unmanned Aerial Vehicle (UAV) in recent years. The flat wing platform cannot provide hovering ability because of mechanical structure and be restricted by visual resolution at high altitude. The ground mobile robots can use local sensors like sonar or laser range finder to navigate but need to identify the target beforehand. This thesis proposed joint operation architecture between AMR (Aerial Mobile Robot) and GMR (Ground Mobile Robot) to achieve a full autonomous search and rescue operation. First, AMR will search for the target by visual technique. After that, AMR will track GMR and provide visual sensing of the ground facts. This will combined with information from local sensors on GMR as inputs for behavior based controller, to navigate GMR to target in real time. Experimental results confirm that system can locate and approach the target a trough a collision free path with reliable performance. The hovering controller of altitude as well as position achieved accuracy of 8.35 cm in xy plane and 16.79 cm in z axis. The behavior based fuzzy controller will navigate the robot to the destination with obstacle avoidance and its average error was 51.15 mm in x axis and 63.11mm in y axis. The proposed autonomous joint cooperation between UAV and AMR contribute to improve the limitation on the disaster response robotic used in Fukushima nuclear power plant disaster. They only have independent operation (ground and aerial), no collaboration and in tele-operated mode. In comparison to the conventional SLAM only on ground mobile robot, our proposed aerial and ground architecture highly improved the efficiency and effectiveness. Both UAV and GMR have on-board micro-spectrometer and spectra analysis system for monitoring of water resource and oil spill in the ocean.