Cooperative exploration systems for unknown space based on heterogeneous air-ground robots

Abstract

Provided is a collaborative exploration system for an unknown space based on a heterogeneous air-ground robot, comprising: an unmanned ground vehicle (UGV) and a plurality of unmanned aerial vehicles (UAVs) loaded on the UGV; wherein the UGV is equipped with a first perception module and a first computing platform configured for constructing a fine-grained map of an environment; each of the plurality of UAVs is equipped with a second perception module and a second computing platform configure for constructing a lightweight map of the environment; and a wireless communication module is disposed in the UGV and each of the plurality of UAVs, and the UGV and the plurality of UAVs communicate via a semi-centralized self-organizing communication mode; when the system performs cooperative exploration for the unknown space, the plurality of UAVs explore unknown regions around the UGV with the UGV as a center; based on the second perception module and the second computing platform of each of the plurality of UAVs, the lightweight map is constructed and transmitted back to the UGV; and the UGV fuses the lightweight map transmitted by each of the plurality of UAVs with the fine-grained map constructed by the UGV through the first perception module and the first computing platform. The system has advantages of strong environmental adaptability and high reliability.

Dependencies are inferred from the claim text.