检索结果-南通市图书馆

autonomous flight control with different strategies applied during the complete flight cycle for flapping-wing flying robots

引用

Science China(Technological Sciences) 2023年第11期66卷 3343-3354页

作者： ZHONG SiPing WANG Song XU WenFu LIU JunTao PAN ErZhen School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenShenzhen 518005China

Flapping-wing flying robots(FWFRs),especially large-scale robots,have unique advantages in flight efficiency,load capacity,and bionic ***,they have significant potential in environmental detection,disaster rescue,and anti-terrorism explosion ***,at present,most FWFRs are operated *** have a certain autonomous ability limited to the cruise stage but not the complete flight *** factors make an FWFR unable to give full play to the advantages of flapping-wing flight to perform autonomous flight *** paper proposed an autonomous flight control method for FWFRs covering the complete process,including the takeoff,cruise,and landing ***,the flight characteristics of the mechanical structure of the robot are ***,dedicated control strategies are designed following the different control requirements of the defined ***,a hybrid control law is presented by combining different control strategies and ***,the proposed method and system are validated through outdoor flight experiments of the HIT-Hawk with a wingspan of 2.3 m,in which the control algorithm is integrated with an onboard embedded *** experimental results show that this robot can fly autonomously during the complete flight *** mean value and root mean square(RMS)of the control error are less than 0.8409 and 3.054 m,respectively,when it flies around a circle in an annular area with a radius of 25 m and a width of 10 m.

关键词： flapping-wing flying robot autonomous flight attitude and position control outdoor flight experiments

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Bird-mimetic Wing System of Flapping-wing Micro Air Vehicle with autonomous flight Control Capability

引用

Journal of Bionic Engineering 2016年第3期13卷 458-467页

作者： Sriyulianti Widhiarini Ji Hwan Park Bum Soo Yoon Kwang Joon Yoon ll-Hyun Paik Jong Heon Kim Chan Yik Park Seung Moon Jun Changho Nam Department of Aerospace Engineering Konkuk University Gwangjin-gu Seoul South Korea Deptartment of PGM Technology Hanwha Corp. R&D Center Daejeon South Korea Agency for Defense Development Daejeon South Korea Department of Engineering Technology Arizona State University Mesa Arizona

A micro air vehicle with a bird-mimetic up-down and twisting wing drive system was developed in this study. The Flap- ping-wing Micro Air Vehicle （FMAV）, with a 50 cm wingspan and a double-crank drive system, performed successful flights of up to 23 min. The performance and capabilities of the FMAV were enhanced by adapting a number of unique features, such as a bird-mimetic wing shape with a span-wise camber and an up-down and twisting wing drive mechanism with double-crank linkages, This lift-enhancing design by mimicking the flapping mechanism of a bird＇s wing enabled the 210 g FMAV to fly autonomously in an outdoor field under wind speeds of less than 5 m.s-1. autonomous flight was enabled by installing a flight control computer with a micro-electro-mechanical gyroscope and accelerometers, along with a micro video camera and an ultralight wireless communication system inside the fuselage. A comprehensive wind tunnel test shows that the FMAV with a high-camber wing and double-crank mechanism generates more lift and less net thrust than the FMAV with a flat wing and single-crank mechanism, which confirms the improved performance of the developed FMAV, as well as the superior slow flying or hovering capabilities of the FMAV with a high-camber wing and double-crank wing drive system.

关键词： flapping-wing MAV autonomous flight biomimetic wing double crank wing

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Design of Quadrotor's autonomous flight Control System Based on BeagleBone Black

Design of Quadrotor's Autonomous Flight Control System Based...

引用

2015年中国智能自动化学术会议

作者： Pei-pei Ni Qiang Lyu Guo-sheng Wang Kui-feng Su Feng Guo Department of Control Engineering Academy of Armored Force Engineering

A problem of quadrotor’s autonomous flight control system based on Beagle Bone Black(BBB) high-performance embedded computer is investigated in this paper. BBB is chosen as the main control computer equipped with Wi-Fi receiver, GPS, and camera, while STMS320F28335 is used as the attitude control processer equipped with IMU, optical flow sensor, and infrared range finder. The software system is made up of a cascaded(inner-outer loop) attitude control based on optical flow sensor and ground station control system based on robot operating system(ROS) network. This system enhances quadrotor’s ability of performing complex tasks and enables it autonomy. Indoor hovering tests prove that attitude control algorithm has a stable performance.

关键词： Quadrotor autonomous flight Beagle Bone black(BBB) Robot operating system ROS

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Design and Control of an autonomous Bat-like Perching UAV

引用

Journal of Bionic Engineering 2024年第3期21卷 1253-1264页

作者： Long Bai Wei Wang Xiaohong Chen Yuanxi Sun State Key Laboratory of Mechanical Transmission Chongqing UniversityChongqing400044China

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.

关键词： Bio-inspired design Perching mechanism UAV autonomous flight

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

autonomous Target Localization using Quadrotor

Autonomous Target Localization using Quadrotor

引用

第26届中国控制与决策会议

作者： Yun Hou Changbin Yu Shandong Computer Science Center Jinan250014China The Australian National University and NICTA Ltd

In this paper, autonomous target localization is achieved on quadrotor helicopter, with the use of 2D laser rangefinder and fixed monocular camera. Color-featured target is located in 3D space without prior knowledge of its size or shape. Coordinate systems of camera and laser rangefinder are integrated to establish body-fixed reference coordinate system for both localization and flight control. Rotation compensation algorithm is developed to neutralize the errors introduced by the changes of attitude angles during the flight. With this feature, quadrotor can obtain the real world coordinates of target from one single frame of camera once the target is captured and identified, without the requirement of keeping orientated towards the target all the time. The relative position between quadrotor and target is updated every time the target is located. Indoor experiments are conducted with Asctec Pelican quadrotor to demonstrate the performance of the proposed localization approach.

关键词： Quadrotor Target Localization autonomous flight

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：