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

  • Yeo D
  • Sydney N
  • Paley D
  • 18

    Readers

    Mendeley users who have this article in their library.
  • N/A

    Citations

    Citations of this article.

Abstract

Small rotary-wing UAVs are susceptible to gusts and other environmental disturbances that affect inflow at their rotors. Inflow variations cause unexpected aerodynamic forces through changes in thrust conditions and unmodeled blade-flapping dynamics. This pa- per introduces an onboard, pressure-based flow measurement system developed for a small quadrotor helicopter. The probe-based instrumentation package provides spatially dis- tributed airspeed measurements along each of the aircraft-fixed axes. Lateral and vertical windspeed estimates enable the development of disturbance-tolerant flight control strate- gies. The focus of this paper is vertical flow 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 flight is demonstrated through indoor flight testing with multiple vehicles to safely guide an instrumented quadrotor towards a goal point while avoiding another quadrotor.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

  • Derrick Yeo

  • Nitin Sydney

  • Derek Paley

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free