Enhancing quadrotor resilience in outdoor operations with real-time wind gust measurement by using LiDAR

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dc.contributor.authorLatif, Zohaib
dc.contributor.authorWhidborne, James F.
dc.contributor.authorBhatti, Aamer Iqbal
dc.contributor.authorShahzad, Amir
dc.contributor.authorSamar, Raza
dc.date.accessioned2025-03-19T15:04:26Z
dc.date.available2025-03-19T15:04:26Z
dc.date.freetoread2025-03-19
dc.date.issued2025-03-12
dc.date.pubOnline2025-03-12
dc.description.abstractUnmanned Aerial Vehicles (UAVs) encounter wind gusts during outdoor operations, impacting their position holding, particularly for quadrotors. This vulnerability is amplified during the autonomous docking to outdoor charging stations. The integration of real-time wind preview information for UAV gust rejection control has become more feasible with advances in remote wind sensor technologies like LiDAR. In this study, a ground-based LiDAR system is proposed to predict wind gusts at the landing site of quadrotors. The acquired wind preview data are subsequently utilized by the Model Predictive Control (MPC) to effectively mitigate disturbances. To validate the proposed methodology, a nonlinear simulation environment has been established using LiDAR data collected from comprehensive field tests. The results demonstrate a notable improvement in the system performance compared to benchmark results. This research underscores the practical utility of real-time wind preview information, facilitated by LiDAR technology, in enhancing the overall operational resilience of UAVs, especially quadrotors, during challenging environmental conditions.
dc.description.journalNameUnmanned Systems
dc.format.extentpp. xx-xx
dc.identifier.citationLatif Z, Whidborne JF, Bhatti AI, et al., (2025) Enhancing quadrotor resilience in outdoor operations with real-time wind gust measurement by using LiDAR. Unmanned Systems, Available online 12 March 2025
dc.identifier.eissn2301-3869
dc.identifier.elementsID563525
dc.identifier.issn2301-3850
dc.identifier.issueNoahead-of-print
dc.identifier.urihttps://doi.org/10.1142/s2301385026500081
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/23618
dc.identifier.volumeNoahead-of-print
dc.languageEnglish
dc.language.isoen
dc.publisherWorld Scientific Publishing
dc.publisher.urihttps://www.worldscientific.com/doi/10.1142/S2301385026500081
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subject4013 Geomatic Engineering
dc.subject40 Engineering
dc.subject7 Affordable and Clean Energy
dc.subject4007 Control engineering, mechatronics and robotics
dc.subject4017 Mechanical engineering
dc.titleEnhancing quadrotor resilience in outdoor operations with real-time wind gust measurement by using LiDAR
dc.typeArticle
dcterms.dateAccepted2025-01-14

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