Wildfire Fighting by Unmanned Aerial System Exploiting Its Time-Varying Mass

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00342255" target="_blank" >RIV/68407700:21230/20:00342255 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/LRA.2020.2972827" target="_blank" >https://doi.org/10.1109/LRA.2020.2972827</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2020.2972827" target="_blank" >10.1109/LRA.2020.2972827</a>

Result language

angličtina

Original language name

Wildfire Fighting by Unmanned Aerial System Exploiting Its Time-Varying Mass

Original language description

This paper presents an approach for accurately dropping a relatively large amount of fire retardant, water or some other extinguishing agent onto a wildfire from an autonomous unmanned aerial vehicle (UAV), in close proximity to the epicenter of the fire. The proposed approach involves a risky maneuver outside of the safe flight envelope of the UAV. This maneuver exploits the expected weight reduction resulting from the release of the payload, enabling the UAV to recover without impacting the terrain. The UAV is tilted to high pitch angles, at which the thrust may be pointed almost horizontally. The vehicle can therefore achieve higher horizontal speeds than would be allowed by conventional motion planners. This high speed allows the UAV to significantly reduce the time spent close to the fire. As a result, the overall high heat exposure is reduced, and the payload can be dropped closer to the target, minimizing its dispersion. A constrained optimal control problem (OCP) is solved taking into account environmental parameters such as wind and terrain gradients, as well as various payload releasing mechanisms. The proposed approach was verified in simulations and in real experiments. Emphasis was put on the real time recalculation of the solution, which will enable future adaptation into a model predictive controller (MPC) scheme.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20205 - Automation and control systems

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Volume of the periodical

5

Issue of the periodical within the volume

2

Country of publishing house

US - UNITED STATES

Number of pages

8

Pages from-to

2674-2681

UT code for WoS article

000526702500008

EID of the result in the Scopus database

2-s2.0-85080899618