This paper investigates the ability of a quadrotor to maneuver in wind field. A dynamic model is presented its motion. The includes effect quantify on dynamics quadrotor. proportional-integral-derivative (PID) controller shown as baseline typically used quadrotors. LQR then an alternative PID controller. These two controllers are compared simulation environment using and simulated disturbances. Both found have similar performance field, though be easier tune.

In this work, we present an autonomous control system to perform aerobatic maneuvers with agile fixed-wing UAV. The is strongly based on the underlying physics of aircraft, thus allowing simple techniques work well through full range flight conditions undergone in maneuvers. Moreover, single capable performing a wide variety maneuvers, including those demonstrated work: knife-edge, rolling Harrier, hover, and aggressive turnaround, as transitions between these system's performance...

Unmanned aerial vehicles (UAVs) are increasingly being proposed for a wide range of applications. A promising new class these vehicles, known as agile fixed-wing UAV s, is intended to bridge the gap between conventional aircraft, which can cover long distances efficiently, and rotorcraft, typically very maneuverable. This paper addresses implementation controller UAVs, beginning with hardware-in-the-loop (HIL) simulator, followed by testing on real platform, both implemented Pixhawk...

Quadrotors have become the most common and highly popularized small aerial vehicles among robotics researchers, consumers commercial users. Traditionally, these platforms been designed with each of four propellers to spin in designated direction (two clockwise two counter-clockwise) produce unidirectional thrust-this allows vehicle oppose gravity when its nominal hover orientation. In this paper, we present a quadrotor which is capable bidirectional thrust actuation: it generated by...

The use of drones to transport cargo is an important application unmanned aerial vehicles. Given the limited payload capacity a typical small drone, notion utilizing multiple heavy payloads presents promising alternative. This article describes easy deploy system with cable-suspended enable flight testing guidance, navigation, and control strategies for such systems in realistic operating conditions, outside laboratory. A unique aspect our Ethernet cables ensure fast reliable communications...

Agile fixed-wing aircraft aim to bridge the gap between rotor-craft and conventional aircraft, with capability of maneuverable even hovering flight like a rotor-craft, efficient long distance aircraft. Avoiding obstacles in unknown environments is challenging task these platforms, as they have complicated dynamics limited payload, fly at high speeds. In this work, we present an obstacle-avoidance strategy that avoids collisions while steering goal. The does not rely on prior map environment,...

Unmanned aerial vehicles (UAVs) have become popular in a wide range of applications, including many military and civilian uses. State the art control strategies for these are typically limited to portion vehicle's flight envelope, tailored specific type platform. This article presents single physics-based controller capable aggressive maneuvering majority UAVs. The is applicable UAVs with ability apply force along body-fixed direction, moment about an arbitrary axis, which includes such as...

Agile, fixed-wing, aircraft have been proposed for diverse applications, due to their enhanced flight efficiency, compared rotorcraft, and superior maneuverability, relative conventional, aircraft. We present a novel, reactive, obstacle-avoidance algorithm that enables autonomous through unknown, cluttered environments using only on-board sensing computation. The method selects reference trajectory in real-time from pre-computed library, based on goal location, instantaneous point cloud...