Agile turnaround using post-stall maneuvers for tail-sitter VTOL UAVs

Matsumoto, Takaaki; Konno, Atsushi; Suzuki, Ren; Oosedo, Atsushi; Go, Kenta; Uchiyama, Masaru

doi:10.1109/iros.2010.5650204

Cited by 11 publications

(3 citation statements)

References 16 publications

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“…More recently, researchers have explored real-time trajectory motion-planning of fixed-wing UAVs using simplified models restricted to low angle-of-attack domains [1]. Authors have also investigated in simulation aggressive aerobatic fixed-wing turn-around maneuvers [20,14]. The authors of [15,11,2] have for the last several years been leading the way in developing control and planning strategies for aerobatic fixed-wing vehicles.…”

Section: Related Workmentioning

confidence: 99%

Direct NMPC for Post-Stall Motion Planning with Fixed-Wing UAVs

Basescu¹,

Moore²

2020

Preprint

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Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to maneuverability. In this paper, we present a nonlinear control approach for enabling aerobatic fixed-wing UAVs to maneuver in constrained spaces. Our approach utilizes full-state direct trajectory optimization and a minimalistic, but representative, nonlinear aircraft model to plan aggressive fixed-wing trajectories in real-time at 5 Hz across high angles-of-attack. Randomized motion planning is used to avoid local minima and local-linear feedback is used to compensate for model inaccuracies between updates. We demonstrate our method in hardware and show that both local-linear feedback and re-planning are necessary for successful navigation of a complex environment in the presence of model uncertainty.

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Section: Related Workmentioning

confidence: 99%

Direct NMPC for Post-Stall Motion Planning with Fixed-Wing UAVs

Basescu¹,

Moore²

2020

Preprint

View full text Add to dashboard Cite

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“…On the other hand, an aggressive maneuver may require a sequence of control inputs, even through active state feedback, e.g. aggressive heading reversals proposed by Matsumoto et al (2010).…”

Section: Literature Reviewmentioning

confidence: 99%

Motion primitives and 3D path planning for fast flight through a forest

Paranjape

Meier

Shi

et al. 2015

The International Journal of Robotics Research

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This paper presents two families of motion primitives for enabling fast, agile flight through a dense obstacle field. The first family of primitives consists of a time-delay dependent 3D circular path between two points in space and the control inputs required to fly the path. In particular, the control inputs are calculated using algebraic equations which depend on the flight parameters and the location of the waypoint. Moreover, the transition between successive maneuver states, where each state is defined by a unique combination of constant control inputs, is modeled rigorously as an instantaneous switch between the two maneuver states following a time delay which is directly related to the agility of the robotic aircraft. The second family consists of aggressive turn-around (ATA) maneuvers which the robot uses to retreat from impenetrable pockets of obstacles. The ATA maneuver consists of an orchestrated sequence of three sets of constant control inputs. The duration of the first segment is used to optimize the ATA for the spatial constraints imposed by the turning volume. The motion primitives are validated experimentally and implemented in a simulated receding horizon control (RHC)-based motion planner. The paper concludes with inverse-design pointers derived from the primitives.

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“…In contrast, the present paper works with a minimum volume-to-turn formulation. A similar problem was attempted for tail sitter aircraft by Matsumoto and coauthors, 4 although their problem formulation was confined to the longitudinal plane and required transient and risky stalling maneuvers. On the other hand, the solution proposed in this paper takes the form of a rapid variable-altitude turn, illustrated schematically in Fig.…”

Section: Introductionmentioning

confidence: 99%

Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles

Paranjape

Chung

Hutchinson

2013

AIAA Guidance, Navigation, and Control (GNC) Conference

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The objective of this paper is to derive a rapid turnaround maneuver for micro aerial vehicles flying in densely cluttered environments, in the form of variable altitude turns optimized for spatial constraints. The design results in a motion primitive which can be implemented on miniature aircraft at large. The primitive is tested on an MAV equipped with just yaw control and no roll control. The maneuver design not only yields a motion primitive for a turnaround maneuver, but also sheds light on the aircraft design features that enable such a maneuver to be accomplished given some information about the obstacle field.

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Agile turnaround using post-stall maneuvers for tail-sitter VTOL UAVs

Cited by 11 publications

References 16 publications

Direct NMPC for Post-Stall Motion Planning with Fixed-Wing UAVs

Direct NMPC for Post-Stall Motion Planning with Fixed-Wing UAVs

Motion primitives and 3D path planning for fast flight through a forest

Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles

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