Design and Control of an Autonomous Bat-like Perching UAV
作者机构：State Key Laboratory of Mechanical TransmissionChongqing UniversityChongqing400044China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2024年第21卷第3期
页 面：1253-1264页
核心收录：
学科分类：08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程]
基 金：financially supported by National Key Research&Development Program of China[Grant No.2020YFB1313000] National Natural Science Foundation of China[Grant No.62003060] China Postdoctoral Science Foundation[2022M720566] Natural Science Foundation of Chongqing,China[CSTB2022NSCQ-MSX1297]
主 题：Bio-inspired design Perching mechanism UAV Autonomous flight
摘 要：Perching allows small Unmanned Aerial Vehicles(UAVs)to maintain their altitude while significantly extending their flight duration and reducing ***,current research on flying habitats is poorly adapted to unstructured environments,and lacks autonomous capabilities,requiring ideal experimental environments and remote control by *** solve these problems,in this paper,we propose a bat-like UAV perching mechanism by investigating the bat upside-down perching method,which realizes double self-locking in the perching state using the ratchet and four-link dead point *** on this perching mechanism,this study proposes a control strategy for UAVs to track targets and accomplish flight perching autonomously by combining a binocular camera,single-point LiDAR,and pressure *** perching experiments were conducted for crossbar-type objects *** experimental results show that a multirotor UAV equipped with the perching mechanism and sensors can reliably achieve autonomous flight perching and re-flying off the target *** power consumption is reduced to 2.9%of the hovering state when perched on the target object.
维普期刊数据库