Journal Article

Research on Scenario Modeling for V-Tail Fixed-Wing UAV Dynamic Obstacle Avoidance

Huang, Peihao, Wang, Tao, Tang, Yong, Yang, Bingsan

2023

Overview

With the advantages of long-range flight and high payload capacity, large fixed-wing UAVs are often used in anti-terrorism missions, disaster surveillance, and emergency supply delivery. In the existing research, there is little research on the 3D model design of the V-tail fixed-wing UAV and 3D flight environment modeling. The study focuses on designing a comprehensive simulation environment using Gazebo and ROS, referencing existing large fixed-wing UAVs, to design a V-tail aircraft, incorporating realistic aircraft dynamics, aerodynamics, and flight controls. Additionally, we present a simulation environment modeling approach tailored for obstacle avoidance in no-fly zones, and have created a 3D flight environment in Gazebo, generating a large-scale terrain map based on the original grayscale heightmap. This terrain map is used to simulate potential mountainous terrain threats that a fixed-wing UAV might encounter during mission execution. We have also introduced wind disturbances and other specific no-fly zones. We integrated the V-tail fixed-wing aircraft model into the 3D flight environment in Gazebo and designed PID controllers to stabilize the aircraft’s flight attitude.

• Publisher: MDPI AG
• Subject: 3D flight environment / Aerodynamics / Aircraft / Aircraft configurations / Aircraft models / Aviation / Control algorithms / Counterterrorism / Design / Design and construction / Drone aircraft / Environment models / Fixed wings / fixed-wing UAV simulation / Flight operations / Flight simulation / Gazebo / Kinematics / Mathematical models / Obstacle avoidance / Physics / Proportional integral derivative / R&D / Research & development / Robotics / Simulation / simulation environment modeling / Software / Terrain mapping / threat scenario / Three dimensional models / Unmanned aerial vehicles / V-tail aircraft / Velocity