Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles

The objective of this paper is to derive a rapid turn-around maneuver for micro aerial vehicles flying in densely cluttered environments, in the form of variable altitude turns optimized for spatial constraints. The design results in a motion primitive which can be implemented on miniature aircraft at large. The primitive is tested on an MAV equipped with just yaw control and no roll control. The maneuver design not only yields a motion primitive for a turn-around maneuver, but also sheds light on the aircraft design features that enable such a maneuver to be accomplished given some information about the obstacle field.