Unmanned Aerial Sensor Placement for Cluttered Environments
Unmanned Aerial Sensor Placement for Cluttered Environments
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DOI：
10.1109/lra.2020.3015459
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发表时间：
2020-10-01
影响因子：
5.2
通讯作者：
Kovac, Mirko
中科院分区：
文献类型：
--
作者：
Farinha, Andre;Zufferey, Raphael;Kovac, Mirko
无人驾驶飞行器（uav）已被证明可用于安装无线传感器网络（wsn）。更值得注意的是，使用无人机精确放置传感器节点，为许多工业和科学用途打开了机会，特别是在危险环境或难以进入的位置。本文提出并论证了一种基于脉冲发射的新型航空传感器放置方法。由于不需要直接的物理交互，传感器部署可以在无人机无法安全接近目标位置的混乱环境中实现，例如在森林树冠下。该方法基于机械能存储和超轻形状记忆合金（SMA）触发器。开发的空中系统总重650克，一次充电可以执行多达17次部署。该系统部署30克传感器，距离目标最远4米，精度为+/- 10厘米。空中部署方法已在室内和室外环境中进行了80多次成功部署。所提出的方法可以集成到现场作业中，并补充其他机器人或手动传感器放置程序。这将为苛刻的工业应用、科学现场工作、智慧城市和危险环境带来好处[视频附件：https://youtu.be/duPRXCyo6cY]]。
Unmanned aerial vehicles (UAVs) have been shown to be useful for the installation of wireless sensor networks (WSNs). More notably, the accurate placement of sensor nodes using UAVs, opens opportunities for many industrial and scientific uses, in particular, in hazardous environments or inaccessible locations. This publication proposes and demonstrates a new aerial sensor placement method based on impulsive launching. Since direct physical interaction is not required, sensor deployment can be achieved in cluttered environments where the target location cannot be safely approached by the UAV, such as under the forest canopy. The proposed method is based on mechanical energy storage and an ultralight shape memory alloy (SMA) trigger. The developed aerial system weighs a total of 650 grams and can execute up to 17 deployments on a single battery charge. The system deploys sensors of 30 grams up to 4 meters from a target with an accuracy of +/- 10 cm. The aerial deployment method is validated through more than 80 successful deployments in indoor and outdoor environments. The proposed approach can be integrated in field operations and complement other robotic or manual sensor placement procedures. This would bring benefits for demanding industrial applications, scientific field work, smart cities and hazardous environments [Video attachment: https://youtu.be/duPRXCyo6cY].