3D Robotics

Coordinated docking of copter and rover

The two robots communicate their positions, converge to a common docking location and the dock successfully, both indoors and out.

From Robohub:

The video above demonstrates the use of a coordinated control strategy for autonomous docking of a Aeryon Scout UAV onto a skid-steer UGV (Unmanned Ground Vehicle) from Clearpath Robotics. The controller handles the nonlinearities inherent in the motions of the two vehicles, and is stable in the face of multi-second time delays, allowing unreliable wifi communication to be used in the landing. Both indoor and outdoor experiments demonstrate the validity of the approach, and also reveal the major disturbance caused by the ground effect when hovering over the ground vehicle.

For more information, you can read the paper Coordinated landing of a quadrotor on a skid-steered ground vehicle in the presence of time delays (John M. Daly, Yan Ma, Steven L. Waslander, Autonomous Robots – Springer US, July 2014) or ask questions below!

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