The paper presents an on-board estimation, navigation and control architecture for multi-rotor drones flying in urban environment. It consists of adaptive algorithms to estimate vehicle's aerodynamic drag coefficients with respect to still air and the urban wind components along the flight trajectory, with guaranteed fast and reliable convergence to the true values; navigation algorithms to generate feasible trajectories between given way-points that take into account the estimated wind; and of control algorithms to track the generated trajectories as long as the vehicle retains sufficient number of functioning rotors capable of compensating for the estimated wind. All components of this on-board system are computationally effective and are intended for a real time implementation. The algorithms were tested in simulations.
Estimation, Navigation and Control of Multi-Rotor Drones in an Urban Wind Field
AIAA SciTech Forum ; 2017 ; Grapevine, TX, United States
2017-01-09
Aufsatz (Konferenz)
Keine Angabe
Englisch
Estimation, Navigation and Control of Multi-Rotor Drones in an Urban Wind Field (AIAA 2017-0670)
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