Autonomous Control for Orographic Soaring of Fixed-Wing UAVs

Abstract-- We present a novel controller for fixed-wing UAVs that enables autonomous soaring in an orographic wind field, extending flight endurance. Our method identifies soaring regions and addresses position control challenges by introducing a target gradient line (TGL) on which the UAV achieves an equilibrium soaring position, where sink rate and updraft are balanced. We also demonstrate a single degree of control freedom in a soaring position through manipulation of the TGL. I. INTRODUCTION UAVs have benefited from advancements in battery technology and miniaturization of avionics, which resulted in an increase in their endurance and range. However, the full potential of UAV applications remains limited by reduced flight time.