FURI | Spring 2025

Developing a Simulation Framework for Modeling Aerodynamic Proximity Effects

Aerodynamic forces on rotorcraft due to nearby surfaces have not been modeled. These forces can degrade the trajectory tracking performance of the rotocrafts, such as when they are navigating in cluttered indoor environments. Modeling these forces can help improve controllers to mitigate this effect. This requires a two-part approach, starting with simulation modeling. The simulation modeling is done by using Gazebo, Robot Operating System 2(ROS2), Micro Aerial Vehicle ROS(MAVROS), and ArduPilot, creating a solid foundation before moving onto the hardware and data collection stage.