论文标题

变形无人机的几何感知补偿计划

Geometry-aware Compensation Scheme for Morphing Drones

论文作者

Fabris, Amedeo, Kleber, Kevin, Falanga, Davide, Scaramuzza, Davide

论文摘要

变形的多电动器(例如可折叠无人机)可以提高使用飞行自动自动形态学的无人机的多功能性。为了进一步提高其任务的精度,最近的工作调查了不对称形态的稳定飞行,主要利用低级控制器。然而,仅以固定形状的航空车辆分析了嵌入多电流中的空气动力学效应,并且在变形无人机中完全忽略了。在本文中,我们研究了螺旋桨和变形四螺旋体的主体之间部分重叠的影响。我们执行实验以表征这种效果并设计形态感知的控制方案来说明它们。为了确保车辆效率和紧凑性之间的正确权衡,我们根据这些实验的结果提出了一个简单的几何意见补偿方案。我们通过在可折叠无人机上部署补偿方案来证明我们的方法的有效性,这是一种四杆,可以将其手臂折叠在主体周围。进行了相同的实验,并通过离线或飞行过程中的薪酬方案激活和停用补偿方案,并相互比较。据我们所知,这是抵消飞行过程中变形四光的空气动力学效应的第一项工作,并显示了螺旋桨和无人机中央机构之间部分重叠的影响。

Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology. To further increase precision in their tasks, recent works have investigated stable flight in asymmetric morphologies mainly leveraging the low-level controller. However, the aerodynamic effects embedded in multirotors are only analyzed in fixed shape aerial vehicles and are completely ignored in morphing drones. In this paper, we investigate the effects of the partial overlap between the propellers and the main body of a morphing quadrotor. We perform experiments to characterize such effects and design a morphology-aware control scheme to account for them. To guarantee the right trade-off between efficiency and compactness of the vehicle, we propose a simple geometry-aware compensation scheme based on the results of these experiments. We demonstrate the effectiveness of our approach by deploying the compensation scheme on the Foldable Drone, a quadrotor that can fold its arms around the main body. The same set of experiments are performed and compared against one another by activating and deactivating the compensation scheme offline or during the flight. To the best of our knowledge, this is the first work counteracting the aerodynamic effects of a morphing quadrotor during flight and showing the effects of partial overlap between a propeller and the central body of the drone.

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