Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems

摘要

Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance.Traditionally, multi-quadrotor systems rely on conservative strategies, such as collision avoidance zones around the robot volume, to circumvent this effect.This restricts their capabilities by requiring a large volume for the operation of a multi-quadrotor system, limiting their applicability in dense environments.This work provides a comprehensive, data-driven analysis of the downwash effect, with a focus on characterizing, analyzing, and understanding forces, moments, and velocities in both single and multi-quadrotor configurations.We use measurements of forces and torques to characterize vehicle interactions and particle image velocimetry (PIV) to quantify the spatial features of the downwash wake for a single quadrotor and an interacting pair of quadrotors.This data can be used to inform physics-based strategies for coordination, leverage downwash for optimized formations, expand the envelope of operation, and improve the robustness of multi-quadrotor control.