Aerial Cooperative SLAM for Ground Mobile Robot Path Planning

The trajectory planning for ground mobile robots operating in unknown environments can be a difficult task. In many cases, the sensors used detecting obstacles only provide information about immediate surroundings, making it to generate an efficient long-term path. For instance, robot easily choose move along free path that, eventually, will have dead end. This research is intended develop cooperative scheme of visual-based aerial simultaneous localization and mapping (SLAM) that generating safe robot. general idea take advantage high-altitude point view obtain spatial wide area surroundings this case, could seen as having zenithal picture labyrinth solve robot’s More specifically, system map from images taken by team equipped with onboard cameras, means SLAM method. At same time, While moves, its refinine and, thus, avoid were not detected images.