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Published August 2013 | metadata_only
Book Section - Chapter

Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles


The objective of this paper is to derive a rapid turn-around maneuver for micro aerial vehicles flying in densely cluttered environments, in the form of variable altitude turns optimized for spatial constraints. The design results in a motion primitive which can be implemented on miniature aircraft at large. The primitive is tested on an MAV equipped with just yaw control and no roll control. The maneuver design not only yields a motion primitive for a turn-around maneuver, but also sheds light on the aircraft design features that enable such a maneuver to be accomplished given some information about the obstacle field.

Additional Information

© 2013 American Institute of Aeronautics and Astronautics. This research was funded by the Office of Naval Research (ONR) under Award No. N00014-11-1-0088 and by the National Science Foundation (NSF) under Grant IIS-1253758. The second author was funded through a SMART Scholarship by OSD-T&E (Office of Secretary Defense-Test and Evaluation), Defense - Wide / PE0601120D8Z National Defense Education Program (NDEP) / BA-1, Basic Research.

Additional details

August 19, 2023
August 19, 2023