Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas
Year:2013
Research Areas
  • Automatic
Information
Abstract
There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning) require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results
International
Si
JCR
Si
Title
Sensors
ISBN
1424-8220
Impact factor JCR
1,739
Impact info
Datos JCR del año 2011
Volume
3 (1)
10.3390/s130101247
Journal number
1
From page
1247
To page
1267
Month
SIN MES
Ranking
INSTRUMENTS & INSTRUMENTATION Q1 CHEMISTRY, ANALYTICAL Q3 ELECTROCHEMISTRY Q3
Participants
  • Autor: Mario Andrei Garzon Oviedo (UPM)
  • Autor: Joao Ricardo Pereira Valente (UPM)
  • Autor: David Fernando Zapata García (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
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