RT Journal Article
T1 UAVs mission planning with imposition of flight level through fast marching square
A1 González Pacheco, Víctor
A1 Monje Micharet, Concepción Alicia
A1 Moreno Lorente, Luis Enrique
A1 Balaguer Bernaldo de Quirós, Carlos
AB Many proposed activities to be carried out by unmanned aerial vehicles (UAVs) in urban environments require a control over the altitude for different purposes. Energy saving and minimization of costs are some of these objectives. This work presents a method to impose a flight level in a mission planning carried out by a UAV in a 3D urban environment. The planning avoids all obstacles encountered in the environment and maintains a fixed flight level in the majority of the trajectory. The method used as planner is the Fast Marching Square (FM2) method, which includes two adjustment parameters. Depending on the values of these parameters, it is possible to introduce into the planning an altitude constraint, as well as to modify the smoothness of the trajectory and the safety margins from the obstacles. Several simulated experiments have been carried out in different situations obtaining very good results.
PB Taylor & Francis
SN 0196-9722
YR 2017
FD 2017-01-25
LK https://hdl.handle.net/10016/39046
UL https://hdl.handle.net/10016/39046
LA eng
NO The research leading to these results has received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.
DS e-Archivo
RD 17 jul. 2024