Design, Control and Visual Navigation of the DelftaCopter

TL;DR

This paper presents the design, control, and visual navigation system of the DelftaCopter, a UAV capable of precise hovering, vertical takeoff and landing, fast forward flight, and vision-based search, demonstrated through tests and competition.

Contribution

The paper introduces a novel UAV design with integrated control algorithms and vision-based navigation tailored for medical delivery in challenging environments.

Findings

Successful hover and transition flight demonstrated

Effective vision-based search and landing algorithms validated

Vehicle meets safety and regulation standards for beyond visual line of sight operation

Abstract

To participate in the Outback Medical Express UAV Challenge 2016, a vehicle was designed and tested that can hover precisely, take-off and land vertically, fly fast forward efficiently and use computer vision to locate a person and a suitable landing location. A rotor blade was designed that can deliver sufficient thrust in hover, while still being efficient in fast forward flight. Energy measurements and windtunnel tests were performed. A rotor-head and corresponding control algorithms were developed to allow transitioning flight with the non-conventional rotor dynamics. Dedicated electronics were designed that meet vehicle needs and regulations to allow safe flight beyond visual line of sight. Vision based search and guidance algorithms were developed and tested. Flight tests and a competition participation illustrate the applicability of the DelftaCopter concept.