1 Introduction

2 Proposed System

2.1 System overview

2.2 Mission

3 UAV System Overview

3.1 Hardware

3.2 System

VIO (Visual Inertial Odometry)

MSF (Multi Sensor Fusion)

MPC (Model Predictive Control)

3.2.1 VIO

3.2.2 Sensor Fusion

3.2.3 Obstacle Avoidance

3.2.4 Control

4 UGV System Overview

4.1 Hardware

4.2 System

Pure Pursuit algorithm

4.2.1 Map filtering

ToF camera

4.2.2 Path planning

4.2.3 Cliff detection

4.2.4 Landing Pose Search

5 Tether Attachment

5.1 Comparison of the tether attachment methods

5.1.1 Using a grappling hook

5.2 Anchor point detection

6 Experimental Result

6.1 UAV navigation

6.2 UGV Climbing

6.3 Tether attachment validation

6.4 Whole mission

7 Conclusion

[ ICRA2019 ] UAV/UGV Autonomous Cooperation: UAV assists UGV to climb a cliff by attaching a tether

最后

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