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

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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 hiding.Therefore,they have significant potential in environmental detection,disaster rescue,and anti-terrorism explosion monitoring.However,at present,most FWFRs are operated manually.Some have a certain autonomous ability limited to the cruise stage but not the complete flight cycle.These factors make an FWFR unable to give full play to the advantages of flapping-wing flight to perform autonomous flight tasks.This paper proposed an autonomous flight control method for FWFRs covering the complete process,including the takeoff,cruise,and landing stages.First,the flight characteristics of the mechanical structure of the robot are analyzed.Then,dedicated control strategies are designed following the different control requirements of the defined stages.Furthermore,a hybrid control law is presented by combining different control strategies and objectives.Finally,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 controller.The experimental results show that this robot can fly autonomously during the complete flight cycle.The 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

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

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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

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

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

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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

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autonomous Target Localization using Quadrotor

Autonomous Target Localization using Quadrotor

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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

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