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Development of a Vision-Based Recognition and Position Measurement System for Cooperative Missions of Multiple Heterogeneous Unmanned Vehicles

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Abstract

Research on cooperation missions of multiple unmanned vehicles (UVs) is growing to overcome the limitations of conventional missions and to increase the variety of missions. In this study, a vision-based recognition and position measurement system was developed to cooperate with an unmanned aerial vehicle (UAV) in case an unmanned ground vehicle (UGV) is unable to drive due to terrain obstacles. Phase, mode, and requirements were derived to develop the vision system. After installing the developed vision system on UAV, several flight tests were conducted, which proved that the system satisfies all requirements. The vision system showed an average measurement error within 1 m for 80 measurements. It is expected that the vision-based system developed in this study can be applied for the cooperative mission of UAVs and UGVs.

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Acknowledgements

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korean government (MSIT) through GCRC-SOP (No. 2011-0030013).

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Authors and Affiliations

  1. Pusan National University, Busan, Republic of Korea

    Sukkeun Kim, Jihoon Park, Dongin Han, Eunsoo Kim & Daewoo Lee

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  1. Sukkeun Kim
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  2. Jihoon Park
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  3. Dongin Han
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  4. Eunsoo Kim
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  5. Daewoo Lee
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Correspondence to Daewoo Lee.

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Kim, S., Park, J., Han, D. et al. Development of a Vision-Based Recognition and Position Measurement System for Cooperative Missions of Multiple Heterogeneous Unmanned Vehicles. Int. J. Aeronaut. Space Sci. 22, 468–478 (2021). https://doi.org/10.1007/s42405-021-00355-1

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