Stable Control in Climbing and Descending Flight under Upper Walls using Ceiling Effect Model based on Aerodynamics
Takuzumi Nishio,Moju Zhao,Fan Shi,Tomoki Anzai,Kento Kawaharazuka,Kei Okada,Masayuki Inaba,Takuzumi Nishio,Moju Zhao,Fan Shi,Tomoki Anzai,Kento Kawaharazuka,Kei Okada,Masayuki Inaba
Stable flight control under ceilings is difficult for multirotor Unmanned Aerial Vehicles (UAVs). The wake interaction between rotors and upper walls, called the "ceiling effect", causes an increase of rotor thrust. As a result of the thrust increase, multi-rotors are drawn upward abruptly and collide with ceilings. In previous work, several thrust models of the ceiling effect have been proposed f...
