Micro UAV Path Planning for Reconnaissance in Wind (Preprint)
Nicola Ceccarelli, John J. Enright, Emilio Frazzoli, Rasmussen, Steven J., Schumacher, Corey J. · Defense Technical Information Center (DTIC) · 2006
The problem addressed in this paper is the control of a Micro Unmanned Aerial Vehicle (MAV) for the purpose of obtaining video footage of a set of known ground targets with preferred azimuthal viewing angles, using fixed onboard cameras. Control is exercised only through the selection of waypoints, without modification of the MAV's pre-existing autopilot and waypoint following capability. Specifically, we investigate problems and potential solutions of performing this task in the presence of a known constant wind. Simulations are provided in presence of randomly perturbed wind, based on the Air Force Research Laboratory equipment and the high fidelity simulator MultiUAV2.