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06 Control1 Slides

The document discusses visual navigation for autonomous vehicles and covers topics like agile navigation with aerial vehicles, different drone design concepts including single rotor, tandem rotor, coaxial rotor and quadrotor designs. It also covers hovering, roll/pitch, yaw motions and notation used for drone dynamics.

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Bavantha Udugama
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45 views12 pages

06 Control1 Slides

The document discusses visual navigation for autonomous vehicles and covers topics like agile navigation with aerial vehicles, different drone design concepts including single rotor, tandem rotor, coaxial rotor and quadrotor designs. It also covers hovering, roll/pitch, yaw motions and notation used for drone dynamics.

Uploaded by

Bavantha Udugama
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

16.

485: VNAV - Visual Navigation for


Autonomous Vehicles
Luca Carlone
Lecture 6

based on slides by Markus Ryll


Agile Navigation with Aerial Vehicles

Vijay Kumar et al.


@Penn, 2012

Raffaello D’Andrea et al.


@ETH, 2015
Agile Navigation with Aerial Vehicles

Skydio (>~ 2015)


Agile Navigation with Aerial Vehicles

Lockheed Martin AlphaPilot AI Drone Innovation Challenge (2019)


Design Concepts
• Single rotor • Tandem rotor

✓ Good Controllability and ✓ Good Controllability and


maneuverability maneuverability
- Complex mechanics - Complex mechanics
- Large rotor - Large size

• Coaxial rotor • Quadrotor

✓ Compactness ✓ Good maneuverability


✓ Simple mechanics ✓ Simple mechanics
- Complex aerodynamics ✓ Big payload
- High energy consumption
4
Design Concepts
Vertical acceleration (thrust)

Propeller 4
velocity

Forces 1
Design Concepts

Hovering condition

Propeller 4
velocity

Forces 1
Design Concepts

Roll/Pitch

Propeller 4
velocity

Forces 1
Design Concepts

Yaw

Drag 4

Forces 1
Notation
Design Concepts
Vertical acceleration (thrust)

Propeller 4
velocity

Forces 1
System view

Source: http://ardupilot.org/copter/_images/
Pixhawk-Inforgraphic2.jpg

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