Canopy sampling using an aerial manipulator: A preliminary study

Increasing research into aerial manipulation technology has widened the scope of possible applications for unmanned aircraft. One such application that is introduced in this paper is above-canopy sampling in forests. A preliminary study has investigated the problem experimentally as a means of determining a representative scenario whilst identifying key issues. These issues include relative position sensing and control of the aerial manipulation system, which is subjected to coupling disturbances from both the manipulator and forest canopy environment. Methodology for achieving a fully-autonomous system is proposed and initial modelling and simulation has been conducted as the first step toward future control design and testing, and future development of a physical prototype.