Micro UAV Path Planning for Reconnaissance in Wind

The problem addressed in this paper is the control of a micro unmanned aerial vehicle (MAV) for the purpose of obtaining video footage of a set of known ground targets with preferred azimuthal viewing angles, using fixed onboard cameras. Control is exercised only through the selection of waypoints,...

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Bibliographic Details
Published in2007 American Control Conference pp. 5310 - 5315
Main Authors Ceccarelli, N., Enright, J.J., Frazzoli, E., Rasmussen, S.J., Schumacher, C.J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2007
Subjects
Cameras
Cities and towns
Councils
Force control
Laboratories
Path planning
Reconnaissance
Robustness
Trajectory
Unmanned aerial vehicles
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Summary:The problem addressed in this paper is the control of a micro unmanned aerial vehicle (MAV) for the purpose of obtaining video footage of a set of known ground targets with preferred azimuthal viewing angles, using fixed onboard cameras. Control is exercised only through the selection of waypoints, without modification of the MAV's pre-existing autopilot and waypoint following capability. Specifically, we investigate problems and potential solutions of performing this task in the presence of a known constant wind. Simulations are provided in the presence of randomly perturbed wind, based on the Air Force Research Laboratory equipment and the high fidelity simulator MultiU A V2.
ISBN:9781424409884
1424409888
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2007.4282479