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Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs./
作者:	Wolsieffer, Ben.
面頁冊數:	1 online resource (65 pages)
附註:	Source: Masters Abstracts International, Volume: 85-05.
Contained By:	Masters Abstracts International85-05.
標題:	Aerospace engineering. -
電子資源:	click for full text (PQDT)
ISBN:	9798380875509

Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs.
Wolsieffer, Ben.

Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs. - 1 online resource (65 pages)

Source: Masters Abstracts International, Volume: 85-05.

Thesis (M.S.)--Dartmouth College, 2023.

Includes bibliographical references

Fixed-wing unmanned aerial vehicles (UAVs) are commonly used for remote sensing applications over water bodies, such as monitoring water quality or tracking harmful algal blooms. However, there are some types of measurements that are difficult to accurately obtain from the air. In existing work, water samples have been collected in situ either by hand, with an unmanned surface vehicle (USV), or with a vertical takeoff and landing (VTOL) UAV such as a multirotor. We propose a path planner, landing control algorithm, and energy estimator that will allow a low-cost and energy efficient fixed-wing UAV to carry out a combined remote sensing and direct water sampling mission without requiring sophisticated sensors and using limited onboard computation. Finally, we demonstrate a fully autonomous mission on a modified off-the-shelf RC aircraft. The aircraft flies a survey pattern, lands at a series of sampling points and then returns to the starting location while respecting the available energy budget. In our experiments, we completed multiple sampling missions in the real world with no aborted landings or crashes and an overall energy estimation error of approximately 5%.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798380875509Subjects--Topical Terms:

686400
Aerospace engineering.
Index Terms--Genre/Form:

554714
Electronic books.

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520 $a Fixed-wing unmanned aerial vehicles (UAVs) are commonly used for remote sensing applications over water bodies, such as monitoring water quality or tracking harmful algal blooms. However, there are some types of measurements that are difficult to accurately obtain from the air. In existing work, water samples have been collected in situ either by hand, with an unmanned surface vehicle (USV), or with a vertical takeoff and landing (VTOL) UAV such as a multirotor. We propose a path planner, landing control algorithm, and energy estimator that will allow a low-cost and energy efficient fixed-wing UAV to carry out a combined remote sensing and direct water sampling mission without requiring sophisticated sensors and using limited onboard computation. Finally, we demonstrate a fully autonomous mission on a modified off-the-shelf RC aircraft. The aircraft flies a survey pattern, lands at a series of sampling points and then returns to the starting location while respecting the available energy budget. In our experiments, we completed multiple sampling missions in the real world with no aborted landings or crashes and an overall energy estimation error of approximately 5%.
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538 $a Mode of access: World Wide Web
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