中文摘要：

提出了无人机与智能车的协同导航系统，该系统选取了基于特征匹配的图像拼接技术与基于霍夫变换的图形识别方法，实现了场景还原和障碍物的识别；提出了基于A＊算法的路径规划策略，实现了智能车的避障；与传统的智能车循迹相比，该系统通过设计合理的传感器安装位置以及智能车循迹算法，以最少的传感器实现了自主循迹功能，并以超声波测距的方式完成了对移动障碍物的躲避．仿真实验表明，该系统可以实现对无人、狭小、幽闭空间的探测及数据传输等相关操作．

英文摘要：

A method for cooperative navigation based on quad-rotor unmanned helicopter and intelligent vehicle was presented. Firstly, with the image mosaic technology and Hough transform theory, the designed system is able to rebuild the real scene and identify obstacles. Secondly, a new method based on the A ＊ algorithm is proposed to provide a reasonable path for the vehicle to avoid obstacles. Compared with traditional tracking method, the vehicle uses fewer sensors to achieve the goal point by the proposed method. Thirdly, vehicle can stop automatically when it detects any moving obstacles by ultrasonic. The simulation shows the result that the system can be used in unmanned and narrow environment.