This work presents an energy-aware PRM*-based path planner, energy estimator, and landing control algorithm that will allow a low-cost fixed-wing UAV to carry out a combined mission of remote sensing while flying and direct water sampling at landing.
We performed several experiments in land and water environments under sun, snow, rain, day, and evening conditions with our modified off-the-shelf RC aircraft. The aircraft accomplished the mission, flying a survey pattern, landing at a series of sampling points and then returning to the starting location while respecting the available energy budget. These innovations enable high-impact applications, such as environmental monitoring.
Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs
Springer Proceedings in Advanced Robotics
International Symposium on Experimental Robotics ; 2023 ; Melia, Chiang Mai, Thailand November 26, 2023 - November 30, 2023
2024-08-06
12 pages
Article/Chapter (Book)
Electronic Resource
English
3D Real-Time Energy Efficient Path Planning for a Fleet of Fixed-Wing UAVs
BASE | 2021
|