High-precision UAV localization system for landing on a mobile collaborative robot based on an ir marker pattern recognition

Ivan Kalinov, Evgenii Safronov, Ruslan Agishev, Mikhail Kurenkov, Dzmitry Tsetserukou

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    24 Citations (Scopus)

    Abstract

    We present a novel high-precision UAV localization system for interconnection between two collaborative robots, i.e., unmanned ground robot (UGR) and unmanned aerial vehicle (UAV) capable of autonomous navigation and precise localization in an indoor environment. Based on our localization system we have achieved robust UAV landing on the moving robot using a fusion of 2D LIDAR sensors, camera, and ultrasonic system for localization. In addition, UAV is capable of accurate high-altitude indoor flights (up to 15 m) relative to the ground robot. Localization of UAV is based on the developed adaptive active IR marker system to achieve reliable flight on different altitudes and light conditions. In this paper, we describe the operating principle of the system and present the results of UAV flight experiments. One of promising applications of the developed system is automated inventory management of warehouses.

    Original languageEnglish
    Title of host publication2019 IEEE 89th Vehicular Technology Conference, VTC Spring 2019 - Proceedings
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    ISBN (Electronic)9781728112176
    DOIs
    Publication statusPublished - Apr 2019
    Event89th IEEE Vehicular Technology Conference, VTC Spring 2019 - Kuala Lumpur, Malaysia
    Duration: 28 Apr 20191 May 2019

    Publication series

    NameIEEE Vehicular Technology Conference
    Volume2019-April
    ISSN (Print)1550-2252

    Conference

    Conference89th IEEE Vehicular Technology Conference, VTC Spring 2019
    Country/TerritoryMalaysia
    CityKuala Lumpur
    Period28/04/191/05/19

    Keywords

    • Distributed and collaborative localization algorithms
    • Hybrid robotic system
    • UAV

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