ICRA-FinalSubmission2.pdf (5.54 MB)

Flight testing Boustrophedon coverage path planning for fixed wing UAVs in wind

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conference contribution
posted on 12.03.2019 by Matthew Coombes, Wen-Hua Chen, Cunjia Liu
A 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 - 717

Citation

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

IEEE

Version

AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher 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

26/01/2019

Publication date

2019-08-12

Copyright date

2019

ISBN

9781538660270

eISSN

2577-087X

Language

en

Location

Montreal, Canada

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