Metrics
8 File views/ downloads
44 Record Views
Conference proceeding
A UGV-UAV Formation Using Leader-Follower-Based Collaborative Navigation
36th Florida Conference on Recent Advances in Robotics
Florida Conference on Recent Advances in Robotics (FCRAR 2024), 36th (Tallahassee, Florida, USA, 05/07/2024–05/08/2024)
05/08/2024
Abstract
In this study, a proof-of-concept leader-follower relationship between an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV) is developed and tested as a method of navigation. A JetHexa hexapod robot was tasked with following a CoDrone EDU quadrotor with no communication
between the two platforms. To implement the UAV-following behavior, a You Only Look Once version 5 (YOLOv5) object detection model was developed and employed as part of a Robotic Operating System (ROS) package. According to the results, in controlled testing environments, the UGV is able to follow the UAV over multiple waypoints, following at distances as close as ten centimeters. With future optimization improvements, this leader-follower dynamic may provide a simple means for offloading environmental traversability analysis and path planning to platforms with more advantageous vantage points
Files and links (2)
Related links
Details
- Title
- A UGV-UAV Formation Using Leader-Follower-Based Collaborative Navigation
- Publication Details
- 36th Florida Conference on Recent Advances in Robotics
- Resource Type
- Conference proceeding
- Conference
- Florida Conference on Recent Advances in Robotics (FCRAR 2024), 36th (Tallahassee, Florida, USA, 05/07/2024–05/08/2024)
- Publisher
- Digital Commons @ USF; https://digitalcommons.usf.edu/fcrar/2024/
- Copyright
- © the authors
- Identifiers
- 99380579897306600
- Academic Unit
- Intelligent Systems and Robotics
- Language
- English