ICRA-FinalSubmission2.pdf (5.54 MB)
Flight testing Boustrophedon coverage path planning for fixed wing UAVs in wind
conference contribution
posted on 2019-03-12, 14:36 authored by Matthew CoombesMatthew Coombes, Wen-Hua ChenWen-Hua Chen, Cunjia LiuCunjia LiuA method was previously developed by this author
to optimise the flight path of a fixed wing UAV performing aerial surveys of complex concave agricultural fields. This relies heavily on a flight time in wind prediction model as its cost
function. This paper aims to validate this model by comparing flight test results with the model prediction. There are a number of assumptions that this model relies on. The major assumption
is that wind is steady and uniform over the small area and time scales involved in a survey. To show that this is reasonable, wind fields measurements will be taken from a multi rotor UAV with an ultrasonic windspeed sensor.
Funding
This work was supported by Science and Technology Facilities Council (STFC) under Newton Fund with grant number ST/N006852/1, and by the EPSRC with grant number EP/P012868/1.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
2019 International Conference on Robotics and Automation (ICRA)Pages
711 - 717Citation
COOMBES, M., CHEN, W-H. and LIU, C., 2019. Flight testing Boustrophedon coverage path planning for fixed wing UAVs in wind. IN: 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20-24 May 2019, pp.711-717.Publisher
IEEEVersion
- AM (Accepted Manuscript)
Rights holder
© IEEEPublisher statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Acceptance date
2019-01-26Publication date
2019-08-12Copyright date
2019ISBN
9781538660270eISSN
2577-087XLanguage
- en