A method is proposed to enhance the automation of Unmanned Aerial Vehicle operations. Waypoint-based missions are augmented with safety monitoring of the UAV as a whole and execution monitoring and control of each mission leg. The monitoring and control are implemented using a Behaviour Tree which is automatically generated from the waypoints. The approach exploits the modularity of Behaviour Trees to populate a standard mission template with modules appropriate to each mission. The result is a highly flexible and reconfigurable framework that is easy to use for those overseeing the flight. Simulated flight results in a simple inspection scenario are provided.
|Title of host publication||2020 International Conference on Unmanned Aircraft Systems (ICUAS)|
|Place of Publication||Athens, Greece|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Pages||1048 - 1055|
|Number of pages||8|
|Publication status||Published - 6 Oct 2020|