Quadrotor Flight in Constrained Environments
نویسنده
چکیده
Rotor aerodynamics is known to be significant in quadrotor flight [1]. We extend a previously proposed aerodynamic model which relates rotor thrust to rotor angular speed, relative velocity between the rotor plane of motion and the air, and proximity of both the ground and the ceiling. Our model adds the rotor angle of attack to this framework. We develop a simulation to demonstrate the effect of this model on quadrotor flight in a confined environment. We design and build a platform for conducting flight tests, consisting of a four foot long tunnel with an expandable, square cross section. We present preliminary data from flight tests and offer suggestions for future work on refining our controller.
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