Waypoint Generation Based on Sensor Aimpoint

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.