Data Retrieving From Heterogeneous Wireless Sensor Network Nodes Using UAVs
This paper describes a method and experimental results of a flight planning method that takes into account uncertainties to determine a safe UAV trajectory. It uses particle filters to predict UAV trajectories taking into account the model of the UAV and of the atmospheric conditions and also considering uncertainties. A waypoint generation module computes intermediate waypoints in order to ensure that the trajectory achieves the required levels of safety (avoids forbidden zones) and mission achievement (passes through way-zones). The method has been applied to collection of data from wireless sensor network and has been validated in the airfield of Bollullos in the Spanish province of Seville.
wireless sensor network particle filter uav planning