Design and development of ground station for UAV/UGV heterogeneous collaborative system

Abstract

Unmanned Aerial Vehicle/Unmanned Ground Vehicle heterogeneous collaborative system can complete complex tasks. In order to monitor and control the two agents simultaneously, a comprehensive ground station is designed. First, the preliminary work is introduced. Then, the architecture of the ground station of the system is proposed. In data communication module, since the amount of data from the system is large, the data of structure and multi-threaded processing are designed in detail. In data display module, the ground station provides various ways for displaying data. In image display module, in order to balance the accuracy and real-time performance of the system, an Efficient Convolution Operators tracking algorithm is improved for tracking moving target. In digital map module, a three-dimensional path planning method based on improved Ant Colony is proposed. The experiment results show that the ground station works well in real-time performance and accuracy.

Keywords

• Ground station
• Heterogeneous collaborative system
• Efficient convolution operators tracking algorithm
• Ant colony path planning
• Collaborative experiment