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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    Title :

    Quadrotor Flight Simulation in a CFD-generated Urban Wind Field


    Contributors:


    Publication date :

    2024-03-02


    Size :

    32732483 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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