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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
|Institute of Electrical and Electronics Engineers (IEEE)
|1048 - 1055
|Number of pages
|Published - 6 Oct 2020
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- 1 Finished
1/02/18 → 31/10/23