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Memorias de investigación
Ponencias en congresos:
Precision Agriculture without borders: Practical issues and improvements in farmland coverage with aerial vehicles
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática
In recent years, precision agriculture (PA) researchers have found that the use of unmanned aerial vehicles (UAV) based on quad-rotors could significantly help to improve the agricultural sciences research. Their motivation was conceived by its availability, simple assemblage and maintenance, as well as their low cost compared with traditional tools (e.g. Satellites or conventional aircrafts). For this reason, significant efforts are being made to use a new generation of mini unmanned aerial vehicles (mUAV) to perform remote sensing (RS). The main aim of an aerial survey is to obtain aerial images of the field, that can be used to generate a map of the surface though mosaicking procedures, those maps can also be post-processed to extract interesting information( e.g. biophysical parameters, shape and features detection). Therefore, the aerial vehicles have to cover the full area to be surveyed by following a continuous and smooth trajectory and avoiding obstacles or prohibited areas. In order ensure a minimum completion time for the survey, it is desirable to minimize the number of changes in direction and to avoid revisiting points. Furthermore, not all areas are suitable for taking off or landing with aerial vehicles, so the trajectory has to ensure starting and ending locations that fulfil all the requirements (e.g. safety margins, space enough for operation, pick up and drop ability, 1 accessibility). The problem of covering an entire area, subjected to constraints established by the platform itself and by the workspace, is known as the coverage path planning (CPP) issue. Aerial robots are mainly employed in agriculture for crop observation and map generation through imaging surveys [2, 1, 6]. The maps are usually built by stitching a set of georeferenced images (i.e. orthophotos) through mosaicking procedures. Typically, they rely on information about the biophysical parameters of the crop field. Moreover, the agricultural experiments reported with aerial vehicles fall mainly in waypoints based navigation [2, 7, 3], where the drones navigate autonomously through a predefined trajectory, composed by a set of points in the environment. This paper gives an overview about some practical aspects of coverage missions for agricultural sites using single or multi aerial robot systems. A set of metrics have been proposed in order to evaluate those robotic systems and make a comparative analysis between them. The metrics are mostly focused on the mission time, the percentage of area covered, and the human effort in each mission, moreover, a Risk Analysis (RA) is presented to study the possibility of improving the total area coverage by a fleet of aerial vehicles. The organization of the paper is as follows: After this brief introduction, Section 2 introduces the conceptual aerial framework with all their components and workload. Section 3 present the field trials with single and multi aerial robots, while Section 4 provides an improvement approach for coverage mission with multi aerial robots, and finally in Section 5 the issues reviewed are summed up .
Nombre congreso
Research, Development and Education on Unmanned Aerial Systems
Tipo de participación
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Título de las actas
RED-UAS 2011
Esta actividad pertenece a memorias de investigación
  • Autor: Joao Ricardo Pereira Valente (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: David Sanz Muñoz (UPM)
  • Autor: Mario Andrei Garzon Oviedo (UPM)
  • Autor: Claudio Rossi (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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