toward computing an optimal trajectory for an environment-oriented unmanned aerial vehicle (uav)
DESCRIPTION
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 - PowerPoint PPT PresentationTRANSCRIPT
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Toward Computing An Optimal Trajectory
For An Environment-Oriented UnmannedAerial Vehicle (UAV)
Rodrigo Romero, Jerald Brady, Octavio Lerma, Vladik Kreinovich,
and Craig Tweedie
Joint Annual MeetingNSF Division of Human Resource Development
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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
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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
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Unmanned Aerial Vehicle - Powered Paraglider
Joint Annual Meeting NSF Division of Human Resource Development
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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
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UAV In Flight – UAV Movie 9625Joint Annual Meeting NSF Division of
Human Resource Development
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UAV Landing – UAV Movie 9627Joint Annual Meeting NSF Division of
Human Resource Development
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Ground Station Software Screenshot
Joint Annual Meeting NSF Division of Human Resource Development
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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
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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
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Corner Coverage Is Not Complete
Joint Annual Meeting NSF Division of Human Resource Development
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Solution – Fishtail Pathing
Joint Annual Meeting NSF Division of Human Resource Development
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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
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Very Heterogeneous Areas Require More Flight Coverage
Joint Annual Meeting NSF Division of Human Resource Development
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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
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Further Questions?
• Jerald Brady -Graduate Student- [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