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research-article

Modeling of Dive Maneuvers for Executing Autonomous Dives with a Flapping Wing Unmanned Aerial Vehicle

[+] Author and Article Information
Luke Roberts

Department of Mechanical Engineering, University of Maryland College Park
lukerob1@umd.edu

Hugh Alan Bruck

Department of Mechanical Engineering, University of Maryland College Park
bruck@umd.edu

Satyandra K. Gupta

Department of Aerospace and Mechanical Engineering, University of Southern California
guptask@usc.edu

1Corresponding author.

ASME doi:10.1115/1.4037760 History: Received June 21, 2016; Revised August 18, 2017

Abstract

Flapping wing air vehicles (FWAVs) offer a new flight mode compared to the traditional rotary or fixed wing platforms. Recent advances in FWAVs have produced platforms that offer motion control in wings, which is used to explore aerobatic maneuvers. Dive is one of the the simplest maneuvers to explore using wing motion control capabilities. This maneuver can serve as a building block for designing more complex aerobatic maneuvers. This paper is focused on design of dive maneuvers that can be performed outdoors with a minimal amount of on-board computing capability. We present a simple computational model that provides accuracy of 5 m in open loop operation mode for outdoor dives under wind speeds of up to 3 m/s. This model is executed using a low power, on-board processor. We have also demonstrated that the platform can independently execute roll control through tail positioning, and dive control through wing positioning to produce safe dive behaviors. These capabilities were used to successfully demonstrate autonomous dive maneuvers on the Robo Raven platform developed at the University of Maryland.

Copyright (c) 2017 by ASME
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