Design, control, and visual navigation of the DelftaCopter VTOL tail‐sitter UAV
Design, control, and visual navigation of the DelftaCopter VTOL tail‐sitter UAV
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DelftaCopter VTOL 尾座无人机的设计、控制和视觉导航
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
B. Remes
中科院分区：
文献类型：
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作者：
C. De Wagter;R. Ruijsink;E. Smeur;Kevin G. van Hecke;Freek van Tienen;Erik van der Horst;B. Remes
为了参加2016年内陆医疗快递无人机挑战赛，设计并测试了一种无人机，它可以精确地自主悬停，垂直起飞和降落，高效地快速向前飞行，并使用计算机视觉来定位人员和合适的着陆位置。该飞行器是一种新型的混合尾翼，结合了三角形双翼固定翼和传统的直升机旋翼。旋翼和机翼相互垂直安装，整个飞行器向下倾斜，从悬停过渡到快速向前飞行，旋翼作为推进力。为了在悬停时提供足够的推力，同时在快进飞行中仍然有效，设计了一个定制的旋翼系统。理论设计通过能量测量、风洞试验和真实的任务应用进行了验证。旋翼头和相应的控制算法的开发，以允许过渡飞行与非常规的旋翼动力学，所造成的机身旋翼相互作用。专用电子设备的设计，以满足车辆的需求，并符合规定，允许安全飞行超出视线。基于视觉的搜索和导航算法在立体视觉鱼眼相机上运行，并进行了测试，以在以前从未见过的混乱地形中定位一个人。飞行试验和参加竞赛说明了DelftaCopter概念的适用性。
To participate in the Outback Medical Express UAV Challenge 2016, a vehicle was designed and tested that can autonomously hover precisely, takeoff and land vertically, fly fast forward efficiently, and use computer vision to locate a person and a suitable landing location. The vehicle is a novel hybrid tail‐sitter combining a delta‐shaped biplane fixed‐wing and a conventional helicopter rotor. The rotor and wing are mounted perpendicularly to each other,and the entire vehicle pitches down to transition from hover to fast forward flight where the rotor serves as propulsion. To deliver sufficient thrust in hover while still being efficient in fast forward flight, a custom rotor system was designed. The theoretical design was validated with energy measurements, wind tunnel tests, and application in real‐world missions. A rotor‐head and corresponding control algorithm were developed to allow transitioning flight with the nonconventional rotor dynamics that are caused by the fuselage rotor interaction. Dedicated electronics were designed that meet vehicle needs and comply with regulations to allow safe flight beyond visual line of sight. Vision‐based search and guidance algorithms running on a stereo‐vision fish‐eye camera were developed and tested to locate a person in cluttered terrain never seen before. Flight tests and a competition participation illustrate the applicability of the DelftaCopter concept.