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Thermal detection and generation of collision-free trajectories for cooperative soaring UAVs | IEEE Conference Publication | IEEE Xplore

Thermal detection and generation of collision-free trajectories for cooperative soaring UAVs


Abstract:

This paper presents a cooperative system architecture that extends the flight duration of multiple gliding fixed-wing Unmanned Aerial Vehicles (UAVs) for long endurance m...Show More

Abstract:

This paper presents a cooperative system architecture that extends the flight duration of multiple gliding fixed-wing Unmanned Aerial Vehicles (UAVs) for long endurance missions. The missions are defined by a set of Points of Interest (PoI) and UAVs should pass through them. A module to detect and identify thermals is implemented to exploit their energy and extend the flight duration, known as static soaring. A collision-free trajectory planner based on the RRT∗ (Optimal Rapidly-exploring Random Trees) planning algorithm is implemented. The proposed system allows applications in real time because of its low computational needs. Simulations and experiments carried out in the airfield of La Cartuja (Seville, Spain) show the performance and advantages of the proposed system.
Date of Conference: 03-07 November 2013
Date Added to IEEE Xplore: 02 January 2014
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Conference Location: Tokyo, Japan

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