Abstract
In this article, we present a multi-robot continuous ice thickness measurement system that can operate in plateau glacial environments with natural slopes up to 30°, large crevasses of glacier, slippery snow/ice ground surface, and inevitable terrain undulations. The ground station operator can operate the unmanned ground vehicle (UGV) with improved safety driving ability by following the optimal driving advice provided by the driving skill learning model. The air-ground robot collaboration algorithm coordinated the operation of the UGV with the unmanned aerial vehicle (UAV) to improve the mobility of the UGV in complex glacier environments. We obtain multi-scale and multi-aspect environmental information through air-ground collaboration and use a lightweight environmental modeling method to obtain a three-dimensional model of the glacier surface and subglacial terrain. The system was applied in the Korchung Gangri Glacier in the Tibet Plateau in June 2022. The experimental results show that the system can operate in the extreme environment of plateau glaciers and collect high-precision continuous ice thickness distribution data.
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Acknowledgement
This work was supported by National Natural Science Foundation of China (No. 91948303), National Natural Science Foundation of China (No. 61991413), National Natural Science Foundation of China Innovative Research Group Project (No. 61821005), Shenyang science and technology plan (No. 21–108-9–18) Science and Technology Department of Shenyang (No. RC210477), Youth Innovation Promotion Association (No. Y2022065).
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Zhong, J. et al. (2023). Air-Ground Robots’ Cooperation-Based Mountain Glaciers Thickness Continuous Detection: Systems And Applications. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_25
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DOI: https://doi.org/10.1007/978-981-99-6483-3_25
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