AIR AND GROUND COLLABORATION

A swarm of aerial drones and ground mobile robots colloborative task and decision making. Implemented Extended Kalman Filter for sensor fusion of GPS, IMU, Odom to localize the mobile robots outdoors. The drones perform target search in a designated area and send the detected target GPS coordinates to the mobile robots. Doodle radio acts as the communication device. The ground mobile robots have no a priori knowledge of the environment. The local planner maps the environment as the mobile robot navigates towards the goal. The local planner is a Dynamic Window Approach(DWA) planner capable of dynamic obstacle avoidance using Lidar point cloud data.