AOSoar: Autonomous Orographic Soaring of a Micro Air Vehicle
Sunyou Hwang,Bart D. W. Remes,Guido C. H. E. De Croon,Sunyou Hwang,Bart D. W. Remes,Guido C. H. E. De Croon
Utilizing wind hovering techniques of soaring birds can save energy expenditure and improve the flight endurance of micro air vehicles (MAVs). Here, we present a novel method for fully autonomous orographic soaring without a priori knowledge of the wind field. Specifically, we devise an Incremental Nonlinear Dynamic Inversion (INDI) controller with control allocation, adapting it for autonomous so...
