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<p>Aerial-ground robotic system is a potential candidate for autonomous industrial inspection, target tracking and agriculture applications. One of the roles of the UAV is guiding the navigation of the AGV. Mapless techniques are well-known for computationally less power systems and require communication of position of the obstacles to the AGV from the UAV during the navigation as per the state of art. However, communication delays and failures will cause failure of the task especially during the outdoor missions. In the present work, we propose a mapless technique for the navigation of the AGV assisted by the UAV without communication between both robots. We assume that the AGV is under sudden sensor failure and completely dependent on the UAV for its safe navigation. The goal of the UAV is to take the AGV to the destination while guiding it to avoid the obstacles. We exploit the autonomous tracking task between the UAV and the AGV for the obstacle avoidance. Tracking can be either UAV tracking AGV or vice versa. Particularly, AGV tracking the motion of the UAV is exploited for the navigation of the AGV. Vision-based tracking strategy for AGV to track UAV is developed in this work and applied for obstacle avoidance of AGV. Sliding mode control method is implemented for the tracking motion of AGV and obstacle avoidance control. Experimental results are presented to validate the proposed method. This proves to be significant technique for the safe navigation of AGV when it is non-communicating and under sudden sensor failure.</p>

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Autonomous reactive obstacle avoidance for ground vehicle by tracking the motion of aerial vehicle

  • 期刊论文

  • 发表日期：

    2025年10月8日

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  • Ashok Kumar Sivarathri,
  • Amit Shukla

摘要

Aerial-ground robotic system is a potential candidate for autonomous industrial inspection, target tracking and agriculture applications. One of the roles of the UAV is guiding the navigation of the AGV. Mapless techniques are well-known for computationally less power systems and require communication of position of the obstacles to the AGV from the UAV during the navigation as per the state of art. However, communication delays and failures will cause failure of the task especially during the outdoor missions. In the present work, we propose a mapless technique for the navigation of the AGV assisted by the UAV without communication between both robots. We assume that the AGV is under sudden sensor failure and completely dependent on the UAV for its safe navigation. The goal of the UAV is to take the AGV to the destination while guiding it to avoid the obstacles. We exploit the autonomous tracking task between the UAV and the AGV for the obstacle avoidance. Tracking can be either UAV tracking AGV or vice versa. Particularly, AGV tracking the motion of the UAV is exploited for the navigation of the AGV. Vision-based tracking strategy for AGV to track UAV is developed in this work and applied for obstacle avoidance of AGV. Sliding mode control method is implemented for the tracking motion of AGV and obstacle avoidance control. Experimental results are presented to validate the proposed method. This proves to be significant technique for the safe navigation of AGV when it is non-communicating and under sudden sensor failure.