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Data Retrieving From Heterogeneous Wireless Sensor Network Nodes Using UAVs

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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.

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Authors and Affiliations

  1. Robotics, Computer Vision and Control Group, Universidad de Sevilla, Avda. de los Descubrimientos sn, 41092, Seville, Seville, Spain

    J. A. Cobano, J. R. Martínez-de Dios, R. Conde, J. M. Sánchez-Matamoros & Aníbal Ollero

  2. Center for Advanced Aerospace Technologies, CATEC, Aerópolis, Aerospace Technological Park of Andalusia, 41309, La Rinconada, Seville, Spain

    Aníbal Ollero

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  1. J. A. Cobano
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  2. J. R. Martínez-de Dios
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  3. R. Conde
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  4. J. M. Sánchez-Matamoros
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  5. Aníbal Ollero
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Correspondence to Aníbal Ollero.

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Cobano, J.A., Martínez-de Dios, J.R., Conde, R. et al. Data Retrieving From Heterogeneous Wireless Sensor Network Nodes Using UAVs. J Intell Robot Syst 60, 133–151 (2010). https://doi.org/10.1007/s10846-010-9414-y

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  • DOI: https://doi.org/10.1007/s10846-010-9414-y

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