Data Retrieving From Heterogeneous Wireless Sensor Network Nodes Using UAVs

Authors:
J. A. Cobano;J. R. Martínez-De Dios;R. Conde;J. M. Sánchez-Matamoros;Aníbal Ollero
Affiliations:
Robotics, Computer Vision and Control Group, Universidad de Sevilla, Seville, Spain 41092;Robotics, Computer Vision and Control Group, Universidad de Sevilla, Seville, Spain 41092;Robotics, Computer Vision and Control Group, Universidad de Sevilla, Seville, Spain 41092;Robotics, Computer Vision and Control Group, Universidad de Sevilla, Seville, Spain 41092;Robotics, Computer Vision and Control Group, Universidad de Sevilla, Seville, Spain 41092 and Center for Advanced Aerospace Technologies, CATEC, Aerópolis, Aerospace Technological Park of And ...
Venue:
Journal of Intelligent and Robotic Systems
Year:
2010

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Abstract

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.