Multirotor Aerodynamic Effects in Aerial Manipulation
This chapter presents the aerodynamic effects that appear when multirotors fly close to different structures, which is a common situation in aerial manipulation. The classical theory used to solve this problem in helicopters is explained, and a generaliza
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Abstract This chapter presents the aerodynamic effects that appear when multirotors fly close to different structures, which is a common situation in aerial manipulation. The classical theory used to solve this problem in helicopters is explained, and a generalization of this method to quadrotors is introduced. The chapter also presents validation experiments in a test stand to measure these aerodynamic effects in different conditions.
1 Introduction Aerial manipulators are usually involved in applications which require flying close to different structures, objects and obstacles to grasp object or carrying out inspection by contact task among others [1–3]. In this kind of applications, the wake developed by the rotor is constrained by the obstacles. This produces changes in the thrust and torque generation. This kind of aerodynamic effects has been widely studied in helicopter theory when the rotorcraft specifically flies close to a ground surface [4, 5]. The most used theoretical results is based on the potential aerodynamic assumptions. So then, it is assumed that the velocity field is solenoidal and irrotational. Therefore, the velocity field can be modelled as the gradient of a potential function, v = ∇φ. However, the effect of flying close to different surfaces with a complete multirotor has received much less attention. The same happens if the multirotor flies close to other obstacles like ceilings, walls, pipes and the combination of these kind of effects. These problems have not been studied yet. The few experimental results that have P. Sanchez-Cuevas (B) · G. Heredia · A. Ollero GRVC Robotics Lab Sevilla, Universidad de Sevilla, Seville, Spain e-mail: [email protected] G. Heredia e-mail: [email protected] A. Ollero e-mail: [email protected] © Springer Nature Switzerland AG 2019 A. Ollero and B. Siciliano (eds.), Aerial Robotic Manipulation, Springer Tracts in Advanced Robotics 129, https://doi.org/10.1007/978-3-030-12945-3_5
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been reported making experiments with a small quadrotor flying hover over the ground at different heights [3, 6–8] suggest that the ground effect in multirotors may be larger than the predicted in the classic theories [4, 5]. In this chapter, the authors present an approach to these effects which must be taken into account in several aerial manipulation task. This chapter introduces the classical theory used to solve this problem in helicopters and presents a generalization of this method applying it to a quadrotor in Sect. 2. In Sect. 3 the authors present the test stand and the experimental procedure used to carry out the experiments, in which different aerodynamic problems are considered. Last, Sect. 4 collects the conclusions of how these kind of aerodynamic effects affects to the aerial robot performance.
2 Classic Method of Aerodynamic Effect Estimation The classic method used to approach the aerodynamic effect presented in this chapter was introduced in [4] using the assumptions of potential aerodynamics. In this previous study, the rotor is modeled
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