Data Retrieving From Heterogeneous Wireless Sensor Network Nodes Using UAVs

被引：34

作者：

Cobano, J. A. ^{[1
]}

Martinez-de Dios, J. R. ^{[1
]}

Conde, R. ^{[1
]}

Sanchez-Matamoros, J. M. ^{[1
]}

Ollero, Anibal ^{[1
,2
]}

机构：

[1] Univ Seville, Robot Comp Vis & Control Grp, Seville 41092, Spain

[2] CATEC, Ctr Adv Aerosp Technol, Seville 41309, Spain

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2010年 / 60卷 / 01期

关键词：

UAV planning; Wireless sensor network; Particle filter;

D O I：

10.1007/s10846-010-9414-y

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：133 / 151

页数：19

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