This study aims to use two unmanned vehicles (aerial vehicles and ground vehicles) to implement multi-machine cooperation to complete the assigned tasks quickly. Unmanned aerial/ground vehicles can call each other to send instant inquiry messages using the proposed cooperative communication protocol to hand over the tasks between them and execute efficient three-dimensional collaborative operations in time. This study has demonstrated integrating unmanned aerial/ground vehicles into a group through the control platform (i.e. App operation interface) that uses the Internet of Things. Therefore, pilots can make decisions and communicate through App for cooperative coordination, allowing a group of unmanned aerial/ground vehicles to complete the tasks flexibly. In addition, the payload attached to unmanned air/ground vehicles can carry out multipurpose monitoring that implements face recognition, gas detection, thermal imaging, and video recording. During the experiment of unmanned aerial vehicle, unmanned aerial vehicle will plan the flight path and record the movement trajectory with global positioning system when it is on duty. As a result, the accuracy of the planned flight path achieved 86.89% on average.

本研究旨在利用两种无人驾驶车辆（空中车辆和地面车辆）实现多机协同，快速完成分配的任务。无人机/地面车辆可以使用所提出的协作通信协议相互呼叫发送即时查询消息，以在它们之间切换任务并及时执行高效的三维协作操作。本研究展示了通过使用物联网的控制平台（即App操作界面）将无人机/地面车辆集成到一个组中。因此，飞行员可以通过App进行决策和沟通进行协同协调，让一组无人机/地面车辆灵活地完成任务。此外，搭载在无人空地车上的有效载荷可以进行人脸识别、气体检测、热成像、录像等多用途监控。在无人机实验过程中，无人机在执勤时会规划飞行路径，并通过全球定位系统记录运动轨迹。结果，计划飞行路径的准确率平均达到了86.89%。