Show simple item record

dc.contributor.authorWare, John W.
dc.contributor.authorRoy, Nicholas
dc.date.accessioned2016-12-05T21:59:48Z
dc.date.available2016-12-05T21:59:48Z
dc.date.issued2016-05
dc.identifier.isbn978-1-4673-8026-3
dc.identifier.urihttp://hdl.handle.net/1721.1/105726
dc.description.abstractAlthough unmanned air vehicles' increasing agility and autonomy may soon allow for flight in urban environments, the impact of complex urban wind fields on vehicle flight performance remains unclear. Unlike synoptic winds at high altitudes, urban wind fields are subject to turbulence generated by the buildings and terrain. The resulting spatial and temporal variation makes inference about the global wind field based on local wind measurements difficult and prevents the use of most simple wind models. Fortunately, the structure of the urban environment provides exploitable predictability given a suitable computational fluid dynamics solver, a representative 3D model of the environment, and an estimate of the expected prevailing wind speed and heading. The prevailing wind speed and direction at altitude and computational fluid dynamics solver can generate the corresponding wind field estimate over the map. By generating wind fields in this way, this work investigates a quadrotor's ability to exploit them for improved flight performance. Along with the wind field estimate, an empirically derived power consumption model is used to find minimum-energy trajectories with a planner both aware of and naive to the wind field. When compared to minimum-energy trajectories that do not incorporate wind conditions, the wind-aware trajectories demonstrate reduced flight times, total energy expenditures, and failures due to excess air speed for trajectories across MIT campus.en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ICRA.2016.7487287en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleAn analysis of wind field estimation and exploitation for quadrotor flight in the urban canopy layeren_US
dc.typeArticleen_US
dc.identifier.citationWare, John, and Nicholas Roy. “An Analysis of Wind Field Estimation and Exploitation for Quadrotor Flight in the Urban Canopy Layer.” IEEE, 2016. 1507–1514.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.mitauthorWare, John W.
dc.contributor.mitauthorRoy, Nicholas
dc.relation.journalIEEE International Conference on Robotics and Automation, 2016en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsWare, John; Roy, Nicholasen_US
dspace.embargo.termsNen_US
dc.identifier.orcidhttps://orcid.org/0000-0002-5867-4900
dc.identifier.orcidhttps://orcid.org/0000-0002-8293-0492
mit.licenseOPEN_ACCESS_POLICYen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record