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Abstract
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.
Original language | English |
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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 |
ISBN (Electronic) | 978-1-7281-4278-4 |
ISBN (Print) | 978-1-7281-4279-1 |
DOIs | |
Publication status | Published - 6 Oct 2020 |
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Dive into the research topics of 'UAV Mission Monitoring and Sequencing'. Together they form a unique fingerprint.Projects
- 1 Finished
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CASCADE: Complex Autonomous aircraft Systems Configuration, Analysis and Design Exploratory
Richards, A. G. (Principal Investigator), Richardson, T. S. (Co-Investigator), Goudarzi, H. (Student), Upadhyay, S. (Researcher) & Hine, D. (Technician)
1/02/18 → 31/10/23
Project: Research