Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots

Barrientos Cruz, Antonio and Colorado Montaño, Julián and Cerro Giner, Jaime del and Martínez Álvarez, Alexander and Coral Cuellar, William and Pereira Valente, Joao Ricardo (2011). Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots. "Journal of Field Robotics", v. 28 ;

Description

Title: Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots
Author/s:
  • Barrientos Cruz, Antonio
  • Colorado Montaño, Julián
  • Cerro Giner, Jaime del
  • Martínez Álvarez, Alexander
  • Coral Cuellar, William
  • Pereira Valente, Joao Ricardo
Item Type: Article
Título de Revista/Publicación: Journal of Field Robotics
Date: 11 June 2011
Volume: 28
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: None

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Abstract

In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions.

More information

Item ID: 13764
DC Identifier: http://oa.upm.es/13764/
OAI Identifier: oai:oa.upm.es:13764
Deposited by: PhD Candidate Julian Colorado
Deposited on: 24 Oct 2012 07:23
Last Modified: 21 Apr 2016 13:07
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