关键词: 四旋翼无人机, 平面栖息, 壁面效应, 轨迹跟踪控制, 超机动

Abstract: In order to solve the problem of limited endurance of quadrotor UAVs in sustained duty, a novel aerodynamic habitat mechanism based on the propeller wall effect was proposed, which achieved efficient habitat by negative pressure absorption and wall friction. The mechanism increases UAV thrust by using the negative pressure generated when the UAV propeller is close to the plane, reducing power consumption by 71% compared to hovering. In order to improve the success rate of perching and the stability during aggressive perching, a trajectory planning and control method using quadrotor UAVs is proposed, which can accurately control the position, velocity and attitude of UAVs. Considering the aggressive control problem of the drone during its approach to a wall, trajectory planning methods are designed according to the constraints of the position and attitude of the drone; By means of geometric control method, the planning trajectory curve is accurately tracked, and the aggressive perching of the UAV on the wall is achieved.

Key words: quadrotor, perching on surface, wall effect, trajectory tracking control, aggressive perching