This paper presents a method for collecting data from a WSN (Wireless Sensor Network) with heterogonous nodes using a UAV describing safe trajectories. First, a cluster method is used to group the WSN nodes taking into account their heterogeneity. The UAV sends particular beacon messages for each cluster. The nodes in the cluster send their messages in response to the beacon. This method allows imposing constraints on the number of nodes in each cluster and on the overall number of messages sent in response to the UAV beacon, which allows bounding the Probability of Message Collision lower than a value. Once computed, the cluster prototypes are considered as the centers of way-zones for the UAV. Second, a method is used to generate a safe trajectory using the WSN way-zones. The method is based on Particle Filters to predict the trajectory of the UAV taking into account the models of the UAV and of the wind conditions and considering also uncertainties. From the resulting trajectories the method determines probabilistic levels of safety and of suitability of the trajectory. An Intermediate Waypoints Generation module generates intermediate waypoints in between the WSN way-zones in order to ensure the levels of safety and of suitability of the trajectory. The proposed method has been tested in simulations and in real experiments. The promising results obtained validate the use of PFs (Particulate Filters) to predict the UAV trajectory subject to uncertainties. However, more experiments are necessary. Among the lessons learnt we would like to point out the significantly high increment of node range from ground-ground transmission to ground-aerial transmission, which highlights the applicability of aerial vehicles for WSN data collecting, particularly with low density of nodes over a large area. The promising results obtained open lines of future research such as considering the UAV and wind models for preevaluating intermediate waypoints, using other techniques such as genetic algorithms for intermediate waypoints generation and development of methods that include WSN transmission models and cluster constraints for PF-based UAV trajectory prediction. Also, WSN data collection with several cooperating UAVs is object of current research.


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    Title :

    Data retrieving from heterogeneous wireless sensor network nodes using UAVs


    Additional title:

    Informationswiedergewinnung aus heterogenen, drahtlosen Sensornetzwerkknoten mit Hilfe von unbemannten Luftfahrzeugen


    Contributors:


    Publication date :

    2010


    Size :

    23 Seiten, 20 Bilder, 2 Tabellen, 30 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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