Touch the Wind: Simultaneous Airflow, Drag and Interaction Sensing on a Multirotor
Andrea Tagliabue,Aleix Paris,Suhan Kim,Regan Kubicek,Sarah Bergbreiter,Jonathan P. How,Andrea Tagliabue,Aleix Paris,Suhan Kim,Regan Kubicek,Sarah Bergbreiter,Jonathan P. How
Disturbance estimation for Micro Aerial Vehicles (MAVs) is crucial for robustness and safety. In this paper, we use novel, bio-inspired airflow sensors to measure the airflow acting on a MAV, and we fuse this information in an Unscented Kalman filter (UKF) to simultaneously estimate the three-dimensional wind vector, the drag force, and other interaction forces (e.g. due to collisions, interaction...
