Micro UAV Path Planning for Reconnaissance in Wind (Preprint)

Abstract

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 presence of randomly perturbed wind, based on the Air Force Research Laboratory equipment and the high fidelity simulator MultiUAV2.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 2006
Accession Number
ADA464782

Entities

People

  • Corey J. Schumacher
  • Emilio Frazzoli
  • John J. Enright
  • Nicola Ceccarelli
  • Steven J. Rasmussen

Organizations

  • Air Force Research Laboratory

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Air Force
  • Air Force Research Laboratories
  • Aircrafts
  • Airframes
  • Automatic Pilots
  • Control Systems
  • Governments
  • Ground Speed
  • Military Research
  • Motion Planning
  • Moving Targets
  • Reconnaissance
  • Simulations
  • Simulators
  • Unmanned Aerial Vehicles
  • Vehicles
  • Wind Velocity

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Geodesy

Technology Areas

  • Autonomy