A pair of aerial UAV (quadcopter) performing tree pruning task

• Main Author: Wong, Jorge Guan Kai
• Other Authors: Hu Guoqiang
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/167347
• Institution: Nanyang Technological University

In this project, the simulation of a tree cutting task using two unmanned aerial vehicles (UAVs) was conducted. The UAVs, which were quadrotors with four rotors each, were used to hold and cut the tree in a simulated scenario. The kinematics and dynamics of the quadrotors were studied, and a mathematical model was developed to simulate the tree cutting task. The model was replicated for a second UAV with a different trajectory. The motion planning and control algorithms were carefully designed to ensure the safety and efficiency of the operation. In the simulation, the results indicated that the use of a pair of UAVs for tree pruning is feasible and highlighted the importance of proper motion planning and control. This project has potential applications in the forestry industry and can inform the development of practical UAV-based tree pruning systems.