English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Fixed-wing unmanned aerial vehicles (UAVs) offer significant performanceadvantages over rotary-wing UAVs in terms of speed, endurance, and efficiency.However, these vehicles have traditionally been severely limited with regardsto maneuverability. In this paper, we present a nonlinear control approach forenabling aerobatic fixed-wing UAVs to maneuver in constrained spaces. Ourapproach utilizes full-state direct trajectory optimization and a minimalistic,but representative, nonlinear aircraft model to plan aggressive fixed-wingtrajectories in real-time at 5 Hz across high angles-of-attack. Randomizedmotion planning is used to avoid local minima and local-linear feedback is usedto compensate for model inaccuracies between updates. We demonstrate our methodin hardware and show that both local-linear feedback and re-planning arenecessary for successful navigation of a complex environment in the presence ofmodel uncertainty.

Direct NMPC for Post-Stall Motion Planning with Fixed-Wing UAVs