Autonomous Thrust-Assisted Perching of a Fixed-Wing UAV on Vertical Surfaces
We present the first fixed-wing drone that autonomously perches and takes off from vertical surfaces. Inspired by birds, this airplane uses a thrust-assisted pitch-up maneuver to slow down rapidly before touchdown. Microspines are used to cling to rough walls, while strictly onboard sensing is used for control. The effect of thrust on the suspension’s landing envelope is analyzed and a simple vertical velocity controller is proposed to create smooth and robust descents towards a wall. Multiple landings are performed over a range of flight conditions (a video of S-MAD is available at: http://createk.recherche.usherbrooke.ca/LM2017/).
KeywordsPerching Multimodal Scansorial Fixed-wing UAV Drone Bioinspired
This work was supported financially by FRQNT. We would like to thank the members of Createk and Prof. Nahon’s lab at McGill for the great help that they provided throughout the realization of the work presented.
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