Controllability and Reachability for Micro-Aerial-Vehicle Trajectory Planning in Winds

摘要

MICRO aerial vehicles (MAVs) are small aerial vehicles,rngenerally with dimensions in the order of 1 m. Their smallrnsizes often imply that their flight speeds are also small, roughly in thernorder of 20–60 km=h.MAVs come in awide variety of forms, such asrnfixed wing, flapping wing, and rotary wing [1]. MAVs are findingrnincreasingly more applications in such areas as military missions,rnreconnaissance of hazardous or remote areas, monitoring of indoorrnareas, etc. Because of their small sizes, light weights, and relativelyrnsmall speeds, the effect of wind on the trajectories ofMAVs must bernconsidered.