Research And Application Of Air-Ground Collaboration System Based On Intelligent Vehicle And UAV

In the paper,the key technology and application of air-ground cooperative system based on intelligent vehicle and unmanned aerial vehicle(UAV)are studied.The ground robot can accurately reach the destination to perform the task,but has great limitations to situational awareness,and the UAV has the advantage of wide field of vision.In order to,an air-ground cooperative system,which can combine their respective advantages,is proposed to realize cooperative operation.The large-scale environment-aware ability of UAV is used to assist the ground robots to build a global environment model to provide navigation information for the ground robots,so as to improve the degree of completion of the mission.In this paper,the intelligent vehicle and UAV are used to construct the air-ground cooperative system.The main research contents are as follows:(1)Target detection.In the process of UAV ground detection,in order to identify different targets,the recognition methods suitable for different targets are proposed.A method of extracting target region based on corner detection is proposed for the ground model bounded by black border.According to the features of obstacle and target location,a contour detection target recognition and location method based on color extraction is proposed for target location.The contour detection target recognition and location method based on image segmentation is proposed for obstacles.(2)Research on path planning algorithm.In the research of path planning,the concept of graph theory algorithm is proposed because the output of target recognition and location method based on image processing is coordinate information,and the graph theory algorithm is studied.Then two kinds of path planning algorithms based on graph theory algorithm are compared,after comparing Dijkstra algorithm with Floyd algorithm,Dijkstra algorithm is applied to route planning and successfully output navigation information.(3)Air-to-ground system communication.The communication between intelligent vehicle and UAV is realized.By comparing several wireless communication technologies and combining with its own communication configuration,Wi-Fi communication is selected.Through the socket connection,the realization of communication between intelligent vehicle and UAV.The process for the intelligent vehicle to perform ground tasks is that the intelligent vehicle executing path file arrives at the destination,monitoring the target location,sending video information back to the monitoring terminal in real time through the communications system,and carrying out face recognition on the video image information.At last,return to the start place follow the original path when the time limit is reached.Based on this design,a cooperative air-to-ground search and rescue system is designed to assist in the rescue of dangerous environment.In this paper,the design of software and hardware for the system are described in detail,the key technologies used are studied and introduced,and the experimental results are analyzed,and the feasibility of the overall design scheme is demonstrated.At last,the operation flow and application scheme of the system are described in detail.