In the realm of autonomous navigation for UGVs, environmental perception serves as a critical component. UGVs frequently encounter complex scenarios where sensory functions may become compromised. This paper addresses the challenges associated with autonomous navigation for UGVs under perception-failure conditions. To facilitate autonomous navigation for UGVs when sensory limitations are present, we propose a framework where an UAV guides the navigation of the UGV. Initially, an optimal guidance viewpoint selection strategy is employed to determine the most advantageous guidance viewpoint for the UAV. This is followed by a front-end path search to identify routes that ensure both the safety of the UAV and the visibility of the UGV. Subsequently, through the application of spatiotemporal trajectory optimization methods, UAV guidance flight trajectories are generated, which involves constructing constraints based on UAV dynamics, flight corridor restrictions, guidance distance parameters, and visibility area limitations, in conjunction with gimbal dynamics constraints and the central field of view stipulation. Moreover, the paper utilizes a UGV target point mapping strategy, projecting UAV state points onto a two-dimensional plane to facilitate UGV target trajectory tracking. Finally, the effectiveness of the proposed method is substantiated through simulation.


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    Title :

    Guidance Drone: Navigating Perception-Failure UGV with UAV Assistance in Cluttered Environments


    Contributors:
    Yang, Penghui (author) / Li, Zhichen (author) / Yan, Huaicheng (author) / Rao, Kai (author)


    Publication date :

    2024-07-05


    Size :

    300105 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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