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A novel autonomous self-assembly distributed swarm flying robot

A novel autonomous self-assembly distributed swarm flying robot

作     者:Wei Hongxing Li Ning Liu Miao Tan Jindong 

作者机构:School of Mechanical Engineering and Automation Beihang University Shanghai Institute of Microsystem and Information Technology Biomedical Engineering Department University of Tennessee 

出 版 物:《Chinese Journal of Aeronautics》 (中国航空学报(英文版))

年 卷 期:2013年第26卷第3期

页      面:791-800页

核心收录:

学科分类:07[理学] 080202[工学-机械电子工程] 070205[理学-凝聚态物理] 08[工学] 0804[工学-仪器科学与技术] 080501[工学-材料物理与化学] 0805[工学-材料科学与工程(可授工学、理学学位)] 0802[工学-机械工程] 0702[理学-物理学] 

基  金:the National High-tech Research and Development Program of China(''863''Program)(No.2012AA041402) National Natural Science Foundation of China(Nos.61175079and51105012) Fundamental Research Funds for the Central Universities (No.YWF-11-02-215) 

主  题:Distributed control Flight control system Flying robot Self assembly Swarm intelligence 

摘      要:Swarm intelligence embodied by many species such as ants and bees has inspired scholars in swarm robotic researches. This paper presents a novel autonomous self-assembly distributed swarm flying robot-DSFR, which can drive on the ground, autonomously accomplish self-assembly and then fly in the air coordinately. Mechanical and electrical designs of a DSFR module, as well as the kinematics and dynamics analysis, are specifically investigated. Meanwhile, this paper brings forward a generalized adjacency matrix to describe configurations of DSFR structures. Also, the distributed flight control model is established for vertical taking-off and horizontal hovering, which can be applied to control of DSFR systems with arbitrary configurations. Finally, some experiments are carried out to testify and validate the DSFR design, the autonomous self-assembly strategy and the distributed flight control laws.

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