This paper presents a software pipeline that enables simulating a quadrotor’s flight in realistic urban wind fields where complex wind phenomena are common and have significant impact on vehicle dynamics. The pipeline integrates the OpenStreetMap database for obtaining real-world building geometry, the OpenFOAM computational fluid dynamics (CFD) solver for computing a three-dimensional, steady, wind field, the Gazebo robotics simulation environment, and the PX4 software-in-the-loop autopilot. A 3D wind plugin is developed to interpolate a pre-computed CFD wind field at runtime during the simulation. The approach is demonstrated by comparing the flight performance of a quadrotor flying over a university campus environment with and without the wind field.


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    Titel :

    Quadrotor Flight Simulation in a CFD-generated Urban Wind Field


    Beteiligte:
    Kakavitsas, Nicholas (Autor:in) / Willis, Andrew (Autor:in) / Jacobik, Ryan (Autor:in) / Uddin, Mesbah (Autor:in) / Wolek, Artur (Autor:in)


    Erscheinungsdatum :

    2024-03-02


    Format / Umfang :

    32732483 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






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