Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles

Abstract

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.

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

“…An ATA maneuver is designed to help the motion planner deal with localized impenetrable pockets of obstacles (see Figures 1 and 2). The ATA maneuver, first presented by the present authors in Paranjape et al (2013c), is an instantaneous 3D turn with a sequence of constant control inputs, and with the time delay between the inputs acting as an additional design parameter. The ATA maneuver could help increase the speeds at which aircraft can fly safely through dense obstacle fields.…”

“…In order to examine the effect of including an inner-loop controller on the performance of an ATA, we implemented a controller of the form (Paranjape et al, 2013c) …”

“…Simulation results and experimental data showing the effect of a control law(Paranjape et al, 2013c) on the turn diameter during an ATA. Note that the turn radius is measured in the horizontal (x-y) plane.…”