Ponencia
Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach
Autor/es | Nekoo, Saeed Rafee
Sánchez Cuevas, Pedro Jesús Acosta, José Ángel Heredia, Guillermo Ollero Baturone, Aníbal |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2021 |
Fecha de depósito | 2022-11-11 |
Publicado en |
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ISBN/ISSN | 978-166543389-1 |
Resumen | This paper presents an experimental study of the softlanding problem in quadrotors using the induced wind modeling
approach. The landing phase has been typically one of the critical
phases in drone flight. Landing ... This paper presents an experimental study of the softlanding problem in quadrotors using the induced wind modeling approach. The landing phase has been typically one of the critical phases in drone flight. Landing complexity drastically increases when the drone needs to land on sensitive sites, such as platforms or rack of pipes in refineries (for inspection purposes), in which explosive material is running through or there exist flammable/explosive material in the environment. Multirotor unmanned aerial vehicles (UAVs) are usually lightweight platforms and they are significantly disturbed by the aerodynamic ground effect while landing; so, near the ground, those drones are subjected to an external disturbance in proximity to the ground. In this situation, the airflow can be reflected after reaching the ground, disturbing the performance of the rotors significantly. This paper aims to model the induced wind velocity, caused by the propellers to see and consider the ground effect during the landing. The reduction of the total thrust near the ground provides a smooth landing and avoids bumping. The complex wind modeling formulation and limitation of the commercialized autopilots make the implementation a challenging task. Herein we propose how to incorporate the proposed soft-landing algorithm within an existing UAV autopilot. Experimental results show that the proposed approach successfully replicates the wind modeling which leads to a soft-landing. |
Agencias financiadoras | Ministerio de Ciencia, Innovación y Universidades (MICINN). España European Union (UE). H2020 |
Identificador del proyecto | 779411
RTI2018-102224-B-I00. |
Cita | Nekoo, S.R., Sánchez Cuevas, P.J., Acosta, J.Á., Heredia, G. y Ollero Baturone, A. (2021). Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach. En 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment (173180), Biograd na Moru, Croacia: Institute of Electrical and Electronics Engineers Inc.. |
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