UGV의 원격제어를 위한 통신 불가 상황에서 드론을 이용한 협업 체계 구현

Abstract

In this paper, we propose a drone-based cooperative system at situations of inability to communicate remotely due to the long distance or obstacles between a central server and a UGV (Unmanned Ground Vehicle), where the drone as a link enables to communicate between a central server and a UGV. The drone is controlled directly from a central server on the ground. In the drone-based cooperative system, the drone transmits the command sent from the central server to UGV and transmits image data obtained from its camera to the central server. The UGV is controlled by commands received from the UAV and its GPS (Global Positioning System) data are sent to the central server through the drone in the sky. In this paper, two communication problem situations by the long distance and obstacles between a central server and a UGV are introduced and the communication delay time that happens by the drone as a coupling medium are shown according to the distance, respectively. The paper shows that the experimental results can effectively construct a cooperative UAV (Unmanned Aerial Vehicle)/UGV platform at situations of inability to communicate with a UGV for remote control.