Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs

This work presents an energy-aware PRM*-based path planner, energy estimator, and landing control algorithm that will allow a low-cost fixed-wing UAV to carry out a combined mission of remote sensing while flying and direct water sampling at landing. We performed several experiments in land and water environments under sun, snow, rain, day, and evening conditions with our modified off-the-shelf RC aircraft. The aircraft accomplished the mission, flying a survey pattern, landing at a series of sampling points and then returning to the starting location while respecting the available energy budget. These innovations enable high-impact applications, such as environmental monitoring.