Aerial Vehicle Trajectory Design for Task Aggregation

In this demo, an optimal design method for generating a flight path passing through specified waypoints while satisfying the task points sent by the ground base station is proposed. Each specified waypoint is reached exactly at the specified location and time while intermediate waypoints are generated in such a way that they satisfy the task points with high task priority and high QoS priority. Generated waypoints are points from where imagery data of the task points are collected and taking into consideration factors such as task points' priorities, sensory capability and deviation required from the shortest path to satisfy that waypoint aggregates these task points. In this demo paper, we demonstrate the procedure for 4D flight trajectory generation, by taking the velocities, maneuverability of the aerial vehicle into consideration while ensuring that the vehicle avoids no-fly zones.