Separable Integrated Drone-Mobile Robot System for Unmanned Patrol.
Carrier is a ROS-based autonomous robot system that combines a mobile robot and a drone. The mobile robot transports and wirelessly charges the drone, then deploys it for last-mile patrol or scouting in areas that are difficult for the ground robot to reach.
https://7drone.github.io/carrier_ros/
The system integrates:
- Mobile robot localization using wheel odometry, IMU, and RTK GNSS with EKF
- Environment perception using RealSense cameras and LiDAR
- Obstacle detection with depth-camera and YOLO-based perception
- Naver map conversion for global planning
- Wireless drone charging on the mobile robot
- ArUco-marker-based drone docking
@inproceedings{kim2023carrier,
title = {Separable Integrated Drone-Mobile Robot System for Unmanned Patrol},
author = {Kim, Jeonghan and Park, Jongchan and Lee, Hayeon and Park, Suhwan and Nam, Yunjea and Kwon, Gihyeon and Jung, Woohyeon and Lee, Youngmoon},
booktitle = {ICROS 2023},
year = {2023},
url = {https://github.com/7drone/carrier_ros},
}MIT