LiDAR-based localization and automatic control of UAVs for mobile remote reconnaissance

Sensor-based monitoring of the surroundings of civilian vehicles is primarily relevant for driver assistance in road traffic, whereas in military vehicles, far-reaching reconnaissance of the environment is crucial for accomplishing the respective mission. Modern military vehicles are typically equipped with electro-optical sensor systems for such observation or surveillance purposes. However, especially when the line-of-sight to the onward route is obscured or visibility conditions are generally limited, more enhanced methods for reconnaissance are needed. The obvious benefit of micro-drones (UAVs) for remote reconnaissance is well known. The spatial mobility of UAVs can provide additional information that cannot be obtained on the vehicle itself. For example, the UAV could keep a fixed position in front and above the vehicle to gather information about the area ahead, or it could fly above or around obstacles to clear hidden areas. In a military context, this is usually referred to as manned-unmanned teaming (MUM-T). In this paper, we propose the use of vehicle-based electro-optical sensors as an alternative way for automatic control of (cooperative) UAVs in the vehicle's vicinity. In its most automated form, the external control of the UAV only requires a 3D nominal position relative to the vehicle or in absolute geocoordinates. The flight path there and the maintaining of this position including obstacle avoidance are automatically calculated on-board the vehicle and permanently communicated to the UAV as control commands. We show first results of an implementation of this approach using 360° scanning LiDAR sensors mounted on a mobile sensor unit. The control loop of detection, tracking and guidance of a cooperative UAV in the local environment is demonstrated by two experiments. We show the automatic LiDAR-controlled navigation of a UAV from a starting point A to a destination point B. with and without an obstacle between A and B. The obstacle in the direct path is detected and an alternative flight route is calculated and used.