Development of Electric Unmanned Ground Vehicle for Aerial-Ground Cooperative Missions

Recently, development of an unmanned vehicle capable of performing mission has been actively carried out. Especially, interest and development of unmanned aerial vehicle (UAV) are growing rapidly. When unmanned ground vehicle (UGV) and UAV cooperate and perform their duties, they complement each other's disadvantages and can be put into various tasks. Since the autonomously driven UGV requires a lot of computation, it is necessary to develop the driving controller and the mission controller separately to perform autonomous driving and mission management at the same time. In this paper, we have developed an autonomously drivable electric car to carry out cooperative mission with UAV, an efficient algorithm that can generate local paths to avoid obstacles while performing communication and sensor processing by improving the potential field algorithm, and the HW and SW of the mission controller which receives the command from the ground control station, manages the mission, and performs the path following control by using the real-time controllable property.