This research proposes a novel lateral-directional morphing control framework for fixed-wing UAVs to safely traverse narrow gaps in crosswind conditions. The method integrates a bio-inspired lateral morphing mechanism, a disturbance observer-based control architecture, and a gap traversal trajectory planner. The approach is validated through simulations, demonstrating a 94% success rate under moderate crosswinds.
Key findings
Fixed-wing UAVs can safely traverse narrow gaps in crosswind conditions with a novel control framework.
The bio-inspired lateral morphing mechanism enables asymmetric wing folding for crosswind compensation.
A disturbance observer-based control architecture estimates and rejects wind gusts in real-time without external wind sensors.
A gap traversal trajectory planner optimizes approach angle and morphing schedule based on estimated crosswind intensity.
Extensive simulations show a 94% success rate under moderate crosswinds, compared to 31% for non-morphing baseline controllers.
Limitations & open questions
The study focuses on simulations and further real-world testing is required to validate the approach.
The framework's scalability to different UAV sizes and morphing capabilities is not yet established.