Toward Dynamic Monitoring and Suppressing Uncertainty in Wildfire by Multiple Unmanned Air Vehicle System

Figure 17

Simulated scenario with a single UAV is presented. The UAV trajectory is in X Y Cartesian coordinate frame and is relative to the Home position. The first segment of the trajectory started from take-off controlled manually by the safety-pilot (RC) and switched to autonomous mode after 23 seconds. Three laps were tested with different PID gains for tuning the roll command.