Data Retrieving From Heterogeneous Wireless Sensor Network Nodes Using UAVs

This paper describes a method and experimental results of a flight planning method that takes into account uncertainties to determine a safe UAV trajectory. It uses particle filters to predict UAV trajectories taking into account the model of the UAV and of the atmospheric conditions and also consid...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2010-10, Vol.60 (1), p.133-151
Main Authors: Cobano, J. A., Martínez-de Dios, J. R., Conde, R., Sánchez-Matamoros, J. M., Ollero, Aníbal
Format: Article
Language:English
Subjects:
Artificial Intelligence
Control
Electrical Engineering
Engineering
Mathematical models
Mechanical Engineering
Mechatronics
Networks
Robotics
Sensors
Trajectories
Uncertainty
Unmanned aerial vehicles
Waypoints
Wireless communication
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Summary:This paper describes a method and experimental results of a flight planning method that takes into account uncertainties to determine a safe UAV trajectory. It uses particle filters to predict UAV trajectories taking into account the model of the UAV and of the atmospheric conditions and also considering uncertainties. A waypoint generation module computes intermediate waypoints in order to ensure that the trajectory achieves the required levels of safety (avoids forbidden zones) and mission achievement (passes through way-zones). The method has been applied to collection of data from wireless sensor network and has been validated in the airfield of Bollullos in the Spanish province of Seville.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-010-9414-y