ICUAS'22 Paper Abstract

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Paper FrC2.2

Mendez, Arthur Pinto (Cranfield University), Whidborne, James (Cranfield University), Chen, Lejun (University College London)

Experimental Verification of an LiDAR Based Gust Rejection System for a Quadrotor UAV

Scheduled for presentation during the Regular Session "UAS Testbeds" (FrC2), Friday, June 24, 2022, 15:20−15:40, Bokar

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords UAS Testbeds, Control Architectures, Simulation

Abstract

This paper assesses the use of a ground-based wind measuring LiDAR (Light Detection and Ranging) for remote sensing of incoming wind gusts at the landing site of an autonomous quadrotor. The experimental verification results show that the scalar measurements from the LiDAR were able to recreate the horizontal wind vector even with wind direction variation. Comparisons were conducted against conventional cup anemometers with wind vanes, and these show a good correlation. Upwind LiDAR measurements were used to predict the downstream wind using a transport model. This prediction compared with the downwind measurement shows a good correlation. This wind preview information from the LiDAR is then incorporated into a disturbance feedforward control scheme to increase the gust resilience of the vehicle. Simulation and experimental results demonstrate the system’s efficacy.

 

 

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