Waypoint Generation Based on Sensor Aimpoint
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING AND MANAGEMENT
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This research develops waypoint generation algorithms required to keep a point of interest POI in the field of view FOV of a fixed sensor on a micro air vehicle MAV, in the presence of a constant wind. The waypoint generation algorithms establish waypoints such that a fixed sensor on a MAV at that waypoint and assumed attitude would be pointed directly at the POI. Two scenarios are explored one where the MAV orbits the POI, and the second where the MAV flies to align the sensor at the POI along a preferred look angle. The first scenario relies on a sensor aimed out the side of the MAV, while the second considers both a side-viewing sensor and a forward-viewing sensor. The research explored each scenario through hardware-in-the-loop testing as well as flight testing. The results indicate the algorithms keep the POI in the FOV at least two-thirds of the time as long as the wind speed was less than one-quarter of the cruise speed at higher winds, the MAV has a difficult time keeping to the flight path generated by the sensor aimpoint algorithm.