With the advantages of long-range flight and high payload capacity, large fixed-wing UAVs are often used in anti-terrorism missions, disaster surveillance, and emergency supply delivery. In the existing research, there is little research on the 3D model design of the V-tail fixed-wing UAV and 3D flight environment modeling. The study focuses on designing a comprehensive simulation environment using Gazebo and ROS, referencing existing large fixed-wing UAVs, to design a V-tail aircraft, incorporating realistic aircraft dynamics, aerodynamics, and flight controls. Additionally, we present a simulation environment modeling approach tailored for obstacle avoidance in no-fly zones, and have created a 3D flight environment in Gazebo, generating a large-scale terrain map based on the original grayscale heightmap. This terrain map is used to simulate potential mountainous terrain threats that a fixed-wing UAV might encounter during mission execution. We have also introduced wind disturbances and other specific no-fly zones. We integrated the V-tail fixed-wing aircraft model into the 3D flight environment in Gazebo and designed PID controllers to stabilize the aircraft’s flight attitude.


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    Title :

    Research on Scenario Modeling for V-Tail Fixed-Wing UAV Dynamic Obstacle Avoidance


    Contributors:
    Peihao Huang (author) / Yong Tang (author) / Bingsan Yang (author) / Tao Wang (author)


    Publication date :

    2023




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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