Small rotary-wing UAVs are susceptible to gusts and other environmental disturbances that a ect inow at their rotors. Inow variations cause unexpected aerodynamic forces through changes in thrust conditions and unmodeled blade apping dynamics. This pa- per introduces an onboard, pressure-based ow measurement system developed for a small quadrotor helicopter. The probe-based instrumentation package provides spatially dis- tributed airspeed measurements along each of the aircraft- xed axes. Lateral and vertical windspeed estimates enable the development of disturbance-tolerant ight control strate- gies. The focus of this paper is vertical ow disturbances such as those caused by the downwash of a second vehicle. Real-time velocity measurements are incorporated into a recursive Bayesian estimator to localize a nearby rotorcraft using its downwash. A path planner developed for proximity ight is demonstrated through indoor ight testing with multiple vehicles to safely guide an instrumented quadrotor around the downwash of nearby rotorcraft.


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    Title :

    Onboard Flow Sensing For Downwash Detection and Avoidance On Small Quadrotor Helicopters


    Contributors:
    D. W. Yeo (author) / N. Sydney (author) / D. A. Paley (author) / D. Sofge (author)

    Publication date :

    2015


    Size :

    12 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English






    Downwash Detection and Avoidance with Small Quadrotor Helicopters

    Yeo, Derrick W. / Sydney, Nitin / Paley, Derek A. et al. | AIAA | 2016


    Onboard Flow Sensing for Downwash Detection and Avoidance with a Small Quadrotor Helicopter

    Yeo, Derrick / Sydney, Nitin / Paley, Derek A. et al. | AIAA | 2015


    Onboard Flow Sensing for Downwash Detection and Avoidance with a Small Quadrotor Helicopter (AIAA 2015-1769)

    Yeo, Derrick / Sydney, Nitin / Paley, Derek A. et al. | British Library Conference Proceedings | 2015