Navigation- and Energy-Aware UAV Trajectory Planning in a Windy Urban Environment

Maarten Uijt de Haag, Carola Ebert, Julien Weiss, and Flávio Silvestre

Abstract:	The paper discusses an unmanned aerial vehicle (UAV) trajectory planning tool that assesses areas in an urban environment with respect to Global Navigation Satellite Systems (GNSS) availability, separation to obstacles, energy expanded, and impact of wind. The tool determines what areas of the urban environment are navigable, i.e., where does have GNSS sufficient performance (accuracy, integrity, availability, and continuity) to support safe collision-free operation. The tool, furthermore, uses the input from sensors located throughout the city to estimate the local wind field. Based on the wind field and safe navigation areas, both an energy-based cost function and a speed adjustment scheme are adopted to determine the best, in terms of energy usage, trajectory from origin to destination. Preliminary results show that up to 18% of energy savings while navigating at a safe distance from the buildings.
Published in:	Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) September 19 - 23, 2022 Hyatt Regency Denver Denver, Colorado
Pages:	1760 - 1774
Cite this article:	de Haag, Maarten Uijt, Ebert, Carola, Weiss, Julien, Silvestre, Flávio, "Navigation- and Energy-Aware UAV Trajectory Planning in a Windy Urban Environment," Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado, September 2022, pp. 1760-1774. https://doi.org/10.33012/2022.18501
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