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Estimation, Navigation and Control of Multi-Rotor Drones in an Urban Wind FieldThe paper presents an on-board estimation, navigation and control architecture for multi-rotor drones flying in urban environment. It consists of adaptive algorithms to estimate vehicle's aerodynamic drag coefficients with respect to still air and the urban wind components along the flight trajectory, with guaranteed fast and reliable convergence to the true values; navigation algorithms to generate feasible trajectories between given way-points that take into account the estimated wind; and of control algorithms to track the generated trajectories as long as the vehicle retains sufficient number of functioning rotors capable of compensating for the estimated wind. All components of this on-board system are computationally effective and are intended for a real time implementation. The algorithms were tested in simulations.
Document ID
Acquisition Source
Ames Research Center
Document Type
Conference Paper
Stepanyan, Vahram
(California Univ. Santa Cruz, CA, United States)
Krishnakumar, Kalmanje
(NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
December 20, 2018
Publication Date
January 9, 2017
Subject Category
Aircraft Stability And Control
Report/Patent Number
Meeting Information
Meeting: AIAA SciTech Forum
Location: Grapevine, TX
Country: United States
Start Date: January 9, 2017
End Date: January 13, 2017
Sponsors: American Inst. of Aeronautics and Astronautics
Funding Number(s)
Distribution Limits
Public Use Permitted.
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