Modeling and development of a fundamentally new way of landing a quadcopter on inclined surfaces

Abstract

Methods and software and hardware for modeling and developing a fundamentally new way of landing a quadrocopter on inclined surfaces are discussed in the paper. The current state of the project under elaboration is conditioned and described. Various approaches to the solution are feasible due to the complexity of the considered issue. Solutions can differ both in the distribution of control functions between the ground control station and the quadcopter itself, and in the choice of principles that can be used as the basis for the control system and determine its design and dynamic characteristics. Simulation and testing processes demonstrate that reverse thrust alone can increase the landing zone of an average mass quadcopter, almost doubling the maximum tilt angle at which a landing maneuver is made, thus, allowing for a high vertical speed landing. It is clearly shown that low-power adhesion mechanisms such as electrical adhesion, switchable magnets, grippers or dry glue are activated after landing, allowing it to stay on the surface after the back thrust has ceased. This can be useful in situations where sudden interference is likely to occur. Such a result is achieved using a classic quadrocopter as DJI F450 without adding any equipment.