Heterogeneous Cooperation for Autonomous Navigation Between Terrestrial and Aerial Robots

This work presents a multilayer system that is comprised in four layers, the main layer defines the task, the next performs the image processing and the algorithm of Path Planning in which is considered the evasion of fixed and mobile obstacles in order to be followed By an unmanned land vehicle; The other applies different control algorithms, and finally the last layer is in charge of the interaction, through image processing the speed of mobile objects is estimated within the workspace with the objective that the terrestrial robot does not collide. The stability of the control algorithm is tested through the Lyapunov method. Finally, the experimental results are presented and discussed in which the proposal is validated.