Real-Time Planning and Control with a Vortex Particle Model for Fixed-Wing UAVs in Unsteady Flows
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866908547980197888 |
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| author | Gupta, Ashwin Wolfe, Kevin Perrotta, Gino Moore, Joseph |
| author_facet | Gupta, Ashwin Wolfe, Kevin Perrotta, Gino Moore, Joseph |
| contents | Unsteady aerodynamic effects can have a profound impact on aerial vehicle flight performance, especially during agile maneuvers and in complex aerodynamic environments. In this paper, we present a real-time planning and control approach capable of reasoning about unsteady aerodynamics. Our approach relies on a lightweight vortex particle model, parallelized to allow GPU acceleration, and a sampling-based policy optimization strategy capable of leveraging the vortex particle model for predictive reasoning. We demonstrate, through both simulation and hardware experiments, that by replanning with our unsteady aerodynamics model, we can improve the performance of aggressive post-stall maneuvers in the presence of unsteady environmental flow disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_16079 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Real-Time Planning and Control with a Vortex Particle Model for Fixed-Wing UAVs in Unsteady Flows Gupta, Ashwin Wolfe, Kevin Perrotta, Gino Moore, Joseph Robotics Unsteady aerodynamic effects can have a profound impact on aerial vehicle flight performance, especially during agile maneuvers and in complex aerodynamic environments. In this paper, we present a real-time planning and control approach capable of reasoning about unsteady aerodynamics. Our approach relies on a lightweight vortex particle model, parallelized to allow GPU acceleration, and a sampling-based policy optimization strategy capable of leveraging the vortex particle model for predictive reasoning. We demonstrate, through both simulation and hardware experiments, that by replanning with our unsteady aerodynamics model, we can improve the performance of aggressive post-stall maneuvers in the presence of unsteady environmental flow disturbances. |
| title | Real-Time Planning and Control with a Vortex Particle Model for Fixed-Wing UAVs in Unsteady Flows |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.16079 |