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This paper introduces our robotic system named
UGAV (Unmanned Ground-Air Vehicle) consisting of two
semi-autonomous robot platforms, an Unmanned Ground
Vehicle (UGV) and an Unmanned Aerial Vehicles (UAV).
The paper focuses on three topics of the inspection with the
combined UGV and UAV: (A) teleoperated control by
means of cell or smart phones with a new concept of
automatic configuration of the smart phone based on a RKIXML
description of the vehicle control capabilities, (B) the
camera and vision system with the focus to real time feature
extraction e.g. for the tracking of the UAV and (C) the
architecture and hardware of the UAV. (PDF)
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