A drift-mode controller enables UAV trajectory tracking, collision avoidance, and thrust/sensor limit compliance in winds exceeding closed-loop stability by re-planning paths in a wind-aligned moving frame.
Spatio-Temporal Wind Modeling for UAV Simulations
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abstract
Wind affects the stability and maneuverability of UAVs, which can be particularly dangerous when operating near obstacles or each other. In order to test the effectiveness of formation control laws and the impact of windy environments on the vehicles, spatio-temporal wind fields must be modeled. Each vehicle within the formation experiences unique wind conditions, but these conditions are correlated to the conditions experienced by the other vehicles. This report develops a spatio-temporal model for over-land and over-water environments that produces a representative wind field capable of running on a personal computer that also includes turbulence and gusting.
fields
eess.SY 1years
2019 1verdicts
UNVERDICTED 1representative citing papers
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Trajectory Generation for UAVs in Unknown Environments with Extreme Wind Disturbances
A drift-mode controller enables UAV trajectory tracking, collision avoidance, and thrust/sensor limit compliance in winds exceeding closed-loop stability by re-planning paths in a wind-aligned moving frame.