Abstract

In this research, we focus on the use of Unmanned Aerial Vehicles (UAVs) for the delivery of payloads and navigation towards safe-landing zones, specifically on the modeling of flight dynamics of lightweight vehicles denoted Precision Aerial Delivery Systems (PADSs). While a wide range of nonlinear models has been developed and tested on high-end applications considering various degrees of freedom (DOF), linear models suitable for low-cost applications have not been explored thoroughly. In this study, we propose and compare two linear models, a linearized version of a 6-DOF model specifically developed for micro-lightweight systems, and an alternative model based on a double integrator. Both linear models are implemented with a sensor fusion algorithm using a Kalman filter to estimate the position and attitude of PADSs, and their performance is compared to a nonlinear 6-DOF model. Simulation results demonstrate that both models, when incorporated into a Kalman filter estimation scheme, can determine the flight dynamics of PADSs during smooth flights. While it is validated that the double integrator model can adequately operate under the proposed estimation scheme for up to small acceleration changes, the linearized model proves to be capable of reproducing the nonlinear model characteristics even during moderately steep turns.

Highlights

  • The use of Unmanned Aerial Vehicles (UAVs) has spread to numerous disciplines and will continue to expand in the foreseeable future, as more affordable sensors, actuators, and processing units become available, together with the advances in their legislation around the globe

  • While it is validated that the double integrator model can adequately operate under the proposed estimation scheme for up to small acceleration changes, the linearized model proves to be capable of reproducing the nonlinear model characteristics even during moderately steep turns

  • Simulated measurements representative of sensors onboard the vehicle were fused by implementing a Kalman filter algorithm based on the developed models, to estimate the position and attitude of the parafoil-payload system

Read more

Summary

Introduction

The use of Unmanned Aerial Vehicles (UAVs) has spread to numerous disciplines and will continue to expand in the foreseeable future, as more affordable sensors, actuators, and processing units become available, together with the advances in their legislation around the globe. UAVs are used in several applications in the scientific, civil, and commercial fields; for instance, in precision agriculture, weather monitoring, search and rescue, mining, remote sensing, and delivery of goods [1,2]. We focus on the use of UAVs for the delivery of payloads. A large number of applications make use of UAVs to deliver food, merchandise, medical supplies, or rescue equipment, among others. UAVs provide a solution in situations where the rugged topography of a region inhibits fast transportation. Given the coronavirus disease 2019 (COVID-19) pandemic, Zipline is distributing medical supplies and personal protective equipment, and recently pursuing the possibility to provide COVID-19 supplies in the USA [4]

Results
Discussion
Conclusion
Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call