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DTSTAMP:20251218T030653Z
LOCATION:Meeting Room S221\, Level 2
DTSTART;TZID=Asia/Hong_Kong:20251215T163000
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UID:siggraphasia_SIGGRAPH Asia 2025_sess115_papers_1133@linklings.com
SUMMARY:A Highly-Efficient Hybrid Simulation System for Flight Controller 
 Design and Evaluation of Unmanned Aerial Vehicles
DESCRIPTION:Jiwei Wang, Wenbin Song, Yicheng Fan, Yang Wang, and Xiaopei L
 iu (ShanghaiTech University)\n\nUnmanned aerial vehicles (UAVs) have demon
 strated remarkable efficacy across diverse fields. \nNevertheless, develop
 ing flight controllers tailored to a specific UAV design, particularly in 
 environments with strong fluid-interactive dynamics, remains challenging. 
 Conventional controller design experiences often fall short in such cases,
  rendering it infeasible to apply time-tested practices. Consequently, a s
 imulation test bed becomes indispensable for controller design and evaluat
 ion prior to its actual implementation on the physical UAV. This platform 
 should allow for meticulous adjustment of controllers and should be able t
 o transfer to real-world systems without significant performance degradati
 on. Existing simulators predominantly hinge on empirical models due to hig
 h efficiency, often overlooking the dynamic interplay between the UAV and 
 the surrounding airflow. This makes it difficult to mimic more complex fli
 ght maneuvers, such as an abrupt mid-air halt inside narrow channels, in w
 hich the UAV may experience strong fluid-structure interactions. On the ot
 her hand, simulators considering the complex surrounding airflow are extre
 mely slow and inadequate to support the design and evaluation of flight co
 ntrollers. In this paper, we present a novel remedy for highly-efficient U
 AV flight simulations, which entails a hybrid modeling that deftly combine
 s our novel far-field adaptive block-based fluid simulator with parametric
  empirical models situated near the boundary of the UAV, with the model pa
 rameters automatically calibrated. With this newly devised simulator, a br
 oader spectrum of flight scenarios can be explored for controller design a
 nd assessment, encompassing those influenced by potent close-proximity eff
 ects, or situations where multiple UAVs operate in close quarters. The pra
 ctical worth of our simulator has been authenticated through comparisons w
 ith actual UAV flight data. We further showcase its utility in designing f
 light controllers for fixed-wing, multi-rotor, and hybrid UAVs, and even e
 xemplify its application when multiple UAVs are involved, underlining the 
 unique value of our system for flight controllers.\n\nRegistration Categor
 y: Full Access, Full Access Supporter\n\nSession Chair: Bo Ren (TMCC, Coll
 ege of Computer Science, Nankai University)\n\n
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