Trajectory Selection for Power-over-Tether Atmospheric Sensing UAS

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Power-over-tether aircraft is an effective tool for persistent spatiotemporal monitoring of environmental phenomena. This paper presents the design and evaluation of flight trajectories for the tethered aircraft unmanned system (TAUS) sensing a dynamic temperature field. TAUS is a novel power-over-tether-based unmanned aerial system (UAS) configured for long-term, high throughput atmospheric monitoring. It is unique in that it provides position control while measuring atmospheric properties on-board the aircraft and with sensors along the tether. We validated the robotic system by conducting outdoor experiments to characterize the sensor performance against a meteorological tower. We found minimal sensing error at the corresponding altitude relative to the ground truth installation. We then used the experimental data to simulate four trajectories (Lawn-mower, Spiral, Star, and Flower) on power-tethered and untethered system models to evaluate performance factors related to trajectory selection. The analysis of the simulated data indicated that the power-tethered Star trajectory performed well concerning key performance factors when measuring changing atmospheric fields.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2321-2328
Number of pages8
ISBN (Electronic)9781665417143
DOIs
StatePublished - 2021
Externally publishedYes
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 - Prague, Czech Republic
Duration: Sep 27 2021Oct 1 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Country/TerritoryCzech Republic
CityPrague
Period9/27/2110/1/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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