Loughborough University
Leicestershire, UK
LE11 3TU
+44 (0)1509 263171
Loughborough University

Loughborough University Institutional Repository

Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/37149

Title: Flight testing Boustrophedon coverage path planning for fixed wing UAVs in wind
Authors: Coombes, Matthew
Chen, Wen-Hua
Liu, Cunjia
Keywords: Aerial surveying
Coverage path planning
Remote sensing
Boustrophedon paths
Wind
Trochoids
Issue Date: 2019
Publisher: IEEE
Citation: COOMBES, M., CHEN, W-H. and LIU, C., 2019. Flight testing Boustrophedon coverage path planning for fixed wing UAVs in wind. To be presented at the 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20-24 May 2019.
Abstract: 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.
Description: This paper is closed access until it is published.
Sponsor: 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.
Version: Accepted for publication
URI: https://dspace.lboro.ac.uk/2134/37149
Publisher Link: https://ieeexplore.ieee.org/Xplore/home.jsp
Appears in Collections:Closed Access (Aeronautical and Automotive Engineering)

Files associated with this item:

File Description SizeFormat
ICRA-FinalSubmission2.pdfAccepted version5.67 MBAdobe PDFView/Open

 

SFX Query

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.