This article uses the Kalman filter to acquire the ground target pose when noise is introduced into the air-ground cooperative system. To obtain ground environmental information, a vision sensor is mounted on the drone to capture image information. Then, kalman filter is adopted into the perception system to acquire the pose of the target. This application effectively mitigates the noise resulting from drone vibration or moving obstacles such as birds. Subsequently, the optimal path can be planned for the target unmanned vehicle by A-star algorithm, following which the vehicle can be guided to reach the desired destination. Ultimately, experimental results are provided to validate the effectiveness and the feasibility of the proposed application.


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    Title :

    Kalman Filter-Aware Air-Ground Cooperative System Target Pose with Noise


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yu, Jianglong (editor) / Liu, Yumeng (editor) / Li, Qingdong (editor) / Lei, Boyun (author) / Tang, Chen (author)

    Conference:

    Chinese Conference on Swarm Intelligence and Cooperative Control ; 2023 ; Nanjing, China November 24, 2023 - November 27, 2023



    Publication date :

    2024-06-18


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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