FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors

Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind; conventional flow sensors are too slow, insensitive, or bulky for wi...

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Veröffentlicht in:arXiv.org 2022-10
Hauptverfasser: Simon, Nathaniel, Ren, Allen Z, Piqué, Alexander, Snyder, David, Barretto, Daphne, Hultmark, Marcus, Majumdar, Anirudha
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creator Simon, Nathaniel
Ren, Allen Z
Piqué, Alexander
Snyder, David
Barretto, Daphne
Hultmark, Marcus
Majumdar, Anirudha
description Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind; conventional flow sensors are too slow, insensitive, or bulky for widespread integration on UAVs. Instead, drones typically observe the effects of wind indirectly through accumulated errors in position or trajectory tracking. In this work, we integrate a novel flow sensor based on micro-electro-mechanical systems (MEMS) hot-wire technology developed in our prior work onto a multirotor UAV for wind estimation. These sensors are omnidirectional, lightweight, fast, and accurate. In order to achieve superior tracking performance in windy conditions, we train a `wind-aware' residual-based controller via reinforcement learning using simulated wind gusts and their aerodynamic effects on the drone. In extensive hardware experiments, we demonstrate the wind-aware controller outperforming two strong `wind-unaware' baseline controllers in challenging windy conditions. See: https://youtu.be/KWqkH9Z-338.
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subjects Controllers
Gusts
Microelectromechanical systems
Sensors
Tracking
Unmanned aerial vehicles
Wind effects
Wire
title FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors
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