Research on Aggressive Perching of Quadrotor UAVs Based on Propeller Wall Effect

In order to solve the problem of limited endurance of quadrotor unmanned aerial vehicles (UAVs) in sustained duty, a pneumatic perching mechanism based on the propeller wall effect is proposed, which achieves efficient perching by negative pressure absorption and wall friction. The mechanism is to increases UAV thrust by using the negative pressure generated when the UAV propeller is close to the plane, reducing the power consumption duing aggressive perching 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 for quadrotor UAVs is proposed, which can accurately control the position, velocity and attitude of UAV. Considering the aggressive control of UAV during its approach to a wall, the trajectory planning methods are designed according to the constraints of the position and attitude of UAV. The smooth change in UAV’s attitude is achieved using the waypoint constraints in the trajectory planning method. The planning trajectory curve is accurately tracked by means of geometric control method, and the aggressive perching of UAV on the wall is achieved.