Uzamsal haritalama ve analiz için uçan robot - kara robotu koordinasyonu

This thesis is concerned with the coordination of an aerial robot (AR) and a mobile ground robot (MGR) for aerial spatial mapping and analysis. Although ARs are favorable platforms for environmental mapping, their operation times are limited due to the current battery technologies. This can be alleviated through having the AR coordinate with an MGR acting as a mobile battery replenishment platform. In this thesis, this problem is studied from three aspects. First, a novel rendezvous scheduling algorithm is presented to determine where and when should the robots meet to replenish the battery of the AR. The resulting algorithms are shown to be real-time applicable in a wide range of scenarios varying with respect to landing type (dockless landing, docked landing), muling (done or not), charging times (fixed, varying), and final location constraints regardless of the mission scale while ensuring optimality for the associated mission. Second, three-dimensional spatial mapping and localization algorithms based on the sensory data as collected by the AR are formulated. Three-dimensional mapping is based on the matching of the incoming frames with the so-far constructed map. For localization, an interpolation-based method and a geometry-based method are considered. Thirdly, a real coordination system is designed. The system consists of a replaceable battery design for ARs, a battery replacement platform (BRP), and a MGR that carries this platform. The hardware and software development of this platform are initiated.