This pape developa a novel mettad to model the air flow downwash faree ganated by the quadrotor un manmed arial vehiele(UAV)and itsefket on the neigh boring UAVs.Rach UAV shaped by a wirtual stracture for oollision-tr...This pape developa a novel mettad to model the air flow downwash faree ganated by the quadrotor un manmed arial vehiele(UAV)and itsefket on the neigh boring UAVs.Rach UAV shaped by a wirtual stracture for oollision-tree path plan ning.The shape is modified from a standard apberical body to a prapased adaptive eylinder to optimine the path planning while mani mloing the dowuwash impact.The eylinder beight varies based on the UAV dzumstanae and the paedieted downwash impact.Purthermare,the downwash model can aid in the eylinder beightextreme valae appointment.A flock-basedpath planning algorithm is invastigated in this study to ompare the spberical UAV shape model with the prapased eylindrical UAV shape model.The UAV with the adaptve eylindrical model is simulated and verified via Gaseho and Robat Operating System(ROS)simulation platfarm.展开更多
基金support of Natural Science and Engineering Research Council of Canada(NSERC)Discovery Grant(227674)and CREATE program(466088).
文摘This pape developa a novel mettad to model the air flow downwash faree ganated by the quadrotor un manmed arial vehiele(UAV)and itsefket on the neigh boring UAVs.Rach UAV shaped by a wirtual stracture for oollision-tree path plan ning.The shape is modified from a standard apberical body to a prapased adaptive eylinder to optimine the path planning while mani mloing the dowuwash impact.The eylinder beight varies based on the UAV dzumstanae and the paedieted downwash impact.Purthermare,the downwash model can aid in the eylinder beightextreme valae appointment.A flock-basedpath planning algorithm is invastigated in this study to ompare the spberical UAV shape model with the prapased eylindrical UAV shape model.The UAV with the adaptve eylindrical model is simulated and verified via Gaseho and Robat Operating System(ROS)simulation platfarm.
