Data Retrieving From Heterogeneous Wireless Sensor Network Nodes Using UAVs

Author： Cobano J. Martínez-de Dios J. Conde R. Sánchez-Matamoros J. Ollero Aníbal

ISSN： 0921-0296

Source： Journal of Intelligent and Robotic Systems, Vol.60, Iss.1, 2010-10, pp. : 133-151

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Abstract

This paper describes a method and experimental results of a flight planning method that takes into account uncertainties to determine a safe UAV trajectory. It uses particle filters to predict UAV trajectories taking into account the model of the UAV and of the atmospheric conditions and also considering uncertainties. A waypoint generation module computes intermediate waypoints in order to ensure that the trajectory achieves the required levels of safety (avoids forbidden zones) and mission achievement (passes through way-zones). The method has been applied to collection of data from wireless sensor network and has been validated in the airfield of Bollullos in the Spanish province of Seville.