Experimental Demonstration of Perching by an Articulated Wing MAV

Creators: Paranjape, Aditya; Kim, Joseph; Gandhi, Nihar; Chung, Soon-Jo

Abstract

This paper presents an experimental demonstration of perching by a micro aerial vehicle (MAV) equipped with articulated wings. A novel feature of the MAV considered in this paper is that wing dihedral, controlled independently on both wings, is used for yaw stability and control as well as for maintaining the flight path angle. Yaw stability and control are essential for perching in tightly constrained places. The experiments described in this paper were conducted indoors and flight parameters are measured using the VICON motion capture system.

Additional Information

© 2011 by Aditya A. Paranjape, Joseph Kim, Nihar Gandhi and Soon-Jo Chung. Published by the American Institute of Aeronautics and Astronautics, Inc. This project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The original problem was posed by Dr. Gregg Abate (AFRL). This paper also benefitted from stimulating discussions with Mr. Johnny Evers (AFRL) and Dr. Animesh Chakravarthy. The authors thank undergraduate research assistants Dan Chuchawat, Li Pan, Michael Looby, and Daniel Park for their contributions to the experiments, and Prof. James Phillips (MechSE UIUC) and Mr. Greg Milner (AE UIUC) for allowing us to schedule experiments quite liberally in an otherwise busy materials testing facility.

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Published - perchGNC2011.pdf

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