High-speed, steady flight with a quadrocopter in a confined environment using a tether
Maximilian Schulz, Federico Augugliaro, Robin Ritz, Raffaello D'Andrea
Abstract
This paper presents a method that enables highspeed, steady flight in confined spaces for tethered quadrocopters. Thanks to the centripetal force exerted by the tether, high-speed trajectories along circles at different velocities, accelerations, and orientations in space can be flown. Various circular maneuvers are experimentally demonstrated, and tangential velocities of up to 15 m/s and centripetal accelerations of more than 13 g can be achieved in steady flight. The recorded data allows to characterize the flight behavior of quadrocopters at high airspeeds: As an example, an estimate of the actual thrust produced by the motors and of the aerodynamic drag acting on the vehicle is presented. An accompanying video shows tethered quadrocopters performing high-speed maneuvers.
BibTeX
@inproceedings{iros2015_highspeedsteadyf,
title = {High-speed, steady flight with a quadrocopter in a confined environment using a tether},
author = {Maximilian Schulz and Federico Augugliaro and Robin Ritz and Raffaello D'Andrea},
booktitle = {IROS 2015},
year = {2015}
}