Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav
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Toward Computing An Optimal Trajectory For An Environment-Oriented Unmanned Aerial Vehicle (UAV). Rodrigo Romero, Jerald Brady, Octavio Lerma, Vladik Kreinovich, and Craig Tweedie. Goals of This Project (ES Perspective). To develop a mobile Environmental Science data collection platform

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Toward Computing An Optimal Trajectory For An Environment-Oriented Unmanned Aerial Vehicle (UAV)

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Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav

Toward Computing An Optimal TrajectoryFor An Environment-Oriented UnmannedAerial Vehicle (UAV)

Rodrigo Romero, Jerald Brady, Octavio Lerma, Vladik Kreinovich, and Craig Tweedie

Joint Annual Meeting

NSF Division of Human Resource Development


Goals of this project es perspective

Goals of This Project (ES Perspective)

To develop a mobile Environmental Science data collection platform

  • Ensure system design is well documented and customizable

  • Near real time collection of data wirelessly

  • To optimize data collection by maximizing coverage and minimizing time taken

Joint Annual Meeting NSF Division of Human Resource Development


Why an unmanned aircraft system

Why an Unmanned Aircraft System?

  • Provides Access to Remotely Sense Regions

  • Covers Large Areas Fairly Easily

  • Dirty Dull and Dangerous flying

  • Can be Utilized Frequently

  • Smaller Carbon Footprint when Compared to Other Craft and More Inexpensive

Joint Annual Meeting NSF Division of Human Resource Development


Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav

Unmanned Aerial Vehicle - Powered Paraglider

Joint Annual Meeting NSF Division of Human Resource Development


Unmanned aircraft system uas

Unmanned Aircraft System (UAS)

  • Onboard

    • Flight Telemetry @ 900 MHz

    • Environmental Science Data - @ 2.4 GHz

  • Ground Station

    • Laptop collects wireless data

    • Custom developed C# software displays data

Joint Annual Meeting NSF Division of Human Resource Development


Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav

UAV In Flight – UAV Movie 9625

Joint Annual Meeting NSF Division of Human Resource Development


Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav

UAV Landing – UAV Movie 9627

Joint Annual Meeting NSF Division of Human Resource Development


Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav

Ground Station Software Screenshot

Joint Annual Meeting NSF Division of Human Resource Development


Area coverage tool

Area Coverage Tool

  • Ground Station Software Needs

    • Visualization of data collection while flying

    • Evaluation of how effective data collection is while flying

    • Display an “optimal path” for users to take

Joint Annual Meeting NSF Division of Human Resource Development


Need for an optimal trajectory

Need for an Optimal Trajectory

Complete coverage of a given area with senor readings

  • UAVs have limited flight time.

  • All sensors do not record at the same speed or at the same rate

  • Design a trajectory to account for these issues

Joint Annual Meeting NSF Division of Human Resource Development


Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav

Corner Coverage Is Not Complete

Joint Annual Meeting NSF Division of Human Resource Development


Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav

Solution – Fishtail Pathing

Joint Annual Meeting NSF Division of Human Resource Development


Sensor readings and area coverage

Sensor Readings and Area Coverage

  • Evaluation of Our Technique

    • While mathematically sound the fishtail solution is not practical while flying

    • Wind and weather conditions for the day can effect flight patterns

    • Areas inside the flight zone that have high levels of change need to be flown over more

Joint Annual Meeting NSF Division of Human Resource Development


Toward computing an optimal trajectory for an environment oriented unmanned aerial vehicle uav

Very Heterogeneous Areas Require More Flight Coverage

Joint Annual Meeting NSF Division of Human Resource Development


Future directions

Future Directions

  • Designing a Smarter Tool

    • Improving upon existing design by including optimal pathing

    • Drawing an optimal path based on data already collected

    • Testing in field to verify improvement in design

Joint Annual Meeting NSF Division of Human Resource Development


Further questions

Further Questions?

  • Jerald Brady -GraduateStudent- [email protected]

  • Vladik Kreinovich –CS Researcher- [email protected]

  • Craig Tweedie – ES Researcher - [email protected]

  • Rodrigo Romero –Presenter- [email protected]

Joint Annual Meeting NSF Division of Human Resource Development


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