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

Barrientos Cruz, Antonio; Colorado Montaño, Julián; Cerro Giner, Jaime del; Martínez Álvarez, Alexander; Coral Cuellar, William y 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 ;

Descripción

Título: Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots
Autor/es:
  • Barrientos Cruz, Antonio
  • Colorado Montaño, Julián
  • Cerro Giner, Jaime del
  • Martínez Álvarez, Alexander
  • Coral Cuellar, William
  • Pereira Valente, Joao Ricardo
Tipo de Documento: Artículo
Título de Revista/Publicación: Journal of Field Robotics
Fecha: 11 Junio 2011
Volumen: 28
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Electrónica, Automática e Informática Industrial [hasta 2014]
Licencias Creative Commons: Ninguna

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Resumen

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.

Más información

ID de Registro: 13764
Identificador DC: http://oa.upm.es/13764/
Identificador OAI: oai:oa.upm.es:13764
Depositado por: PhD Candidate Julian Colorado
Depositado el: 24 Oct 2012 07:23
Ultima Modificación: 21 Abr 2016 13:07
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