ピトー静圧センサによる風先読みモデル予測制御を用いたマルチロータUAVのホバリング安定化
Onboard Wind-Preview Model Predictive Control Using Pitot-Static Sensing for Multirotor UAVs
機体前方のブームに搭載した低コストのピトー静圧センサで風を先読みし、非線形モデル予測制御に組み込むことで、マルチロータUAVの外乱抑制とホバリング性能を向上させた研究。
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著者: Bas Meere, Eline Wisse, Laurens Vousten, Sander Doodeman, Elena Torta, Paula Chanfreut, Duarte Antunes
分類: cs.RO
原文アブストラクト
Effective wind gust rejection and stable hovering are critical for the outdoor operation of autonomous drones. However, existing gust rejection methods are primarily reactive, inferring the disturbance from the resulting motion or measuring it at the airframe. Either way, the wind has already begun to act before it can be compensated. In this work, we anticipate the gust instead by measuring the wind ahead of the drone with a low-cost, low-weight pitot-static sensor mounted on a boom. The resulting wind preview is incorporated into a nonlinear model predictive controller (MPC), which optimizes the drone motion while anticipating wind disturbances. A longer boom offers more preview time but adds inertia and degrades flight performance. We characterize this trade-off in simulation and show that the optimal preview distance is not a fixed property of the platform, but shifts with the wind speed and with how quickly the drone can respond. Indoor hardware experiments confirm the trend and show that the proposed controller substantially improves hover performance against a PX4 baseline and an otherwise identical wind-unaware MPC. Outdoor experiments show that the error along the wind direction is reduced by 54 percent with respect to the baseline, demonstrating that a single wind-aligned sensor can significantly improve hovering performance.