Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness
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- Опубліковано 29 сер 2024
- Paper available at: arxiv.org/abs/2...
Project website: aera.mit.edu/p...
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from existing approaches for fixed-wing trajectory generation, as it considers a realistic six-degree-of-freedom (6DOF) flight dynamics model, including aerodynamics equations. Using a global dynamics model enables the generation of aerobatics trajectories that exploit the entire flight envelope, enabling agile maneuvering through the stall regime, sideways uncoordinated flight, inverted flight etc. The method uses the differential flatness property of the global tailsitter flying wing dynamics, which is derived in this work. By performing snap minimization in the differentially flat output space, a computationally efficient algorithm, suitable for online motion planning, is obtained. The algorithm is demonstrated in extensive flight experiments encompassing six aerobatics maneuvers, a time-optimal drone racing trajectory, and an airshow-like aerobatic sequence for three tailsitter aircraft.
could agree with some commenters below - wing is orphan element here, these drones don't need them for flight in at least these modes. would be interesting to know if these wings could even allow to plane safely with switch off motors.
This is fascinating! Great work!
Wonderful work, I cant quite see are the motors also articulated. I feel they must be, huge control surfaces! They are moving in such a fluid manner that it looks easy, which of course its not! Delightful
motors are fixedd
Quality work, thank you, What simulator did you use? What tools for plotting and visualization?
The drones are not really using the wings for lifting the device in horizontal flight ?
It's incredible, but it feels like kind of a stretch to call it a fixed-wing aircraft. When it's mostly a 2 propeller drone with a fuselage that is incidentally shaped like a wing, but never really works like one too much and most demonstrated flight modes probably don't offer a safe transition to a glide in case the motors die.
No
3d positioning and handling of all the complex dynamics is extremely impressive, but are these aircraft really 'fixed-wing'? really? isn't this just a slightly worse version of quad copters with extra steps?
No, it’s not a worse quadcopter with extra steps.
Wow, impressive! I hope the next step isn't skynet...
Cool UFO