Autonomous Thrust-Assisted Perching of a Fixed-Wing UAV on Vertical Surfaces

  • Dino Mehanovic
  • John Bass
  • Thomas Courteau
  • David Rancourt
  • Alexis Lussier Desbiens
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10384)

Abstract

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/).

Keywords

Perching Multimodal Scansorial Fixed-wing UAV Drone Bioinspired 

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Dino Mehanovic
    • 1
  • John Bass
    • 1
  • Thomas Courteau
    • 1
  • David Rancourt
    • 1
  • Alexis Lussier Desbiens
    • 1
  1. 1.Université de SherbrookeSherbrookeCanada

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