A Multi-VTOL Modular Aspect Ratio Reconfigurable Aerial Robot
A Multi-VTOL Modular Aspect Ratio Reconfigurable Aerial Robot
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DOI：
10.1109/icra46639.2022.9811542
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发表时间：
2022-05
期刊：
影响因子：
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通讯作者：
S. Carlson;Prateek Arora;C. Papachristos
中科院分区：
文献类型：
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作者：
S. Carlson;Prateek Arora;C. Papachristos
这项工作提出了一种新型的宽高比模块化垂直起降（ARM-VTOL）空中机器人，它是一种由两个或多个倾斜旋翼混合飞机系统组成的元飞机，能够在悬停飞行期间进行磁力耦合，并执行垂直起降/固定翼混合任务。由于其增加的累积平台展弦比，所提出的元飞机系统具有提高气动效率的优势，可以利用它在多飞行器协同飞行中实现更长的飞行时间。提出了一种基于多体等效动力学的可扩展控制方法，并给出了便于实验验证的耦合机构设计。伴随着这些贡献，我们进行了一项现场测试驱动的评估研究，该研究使用了双车ARM-VTOL原型机。所提出的序列包括悬停飞行期间的车对车磁耦合，然后是由垂直爬升、垂直起降前转、固定翼飞行和机动以及垂直起降后的反向过渡和着陆组成的联合飞行器任务。
This work presents a novel Aspect Ratio-Modular Vertical Take-Off and Landing (ARM-VTOL) aerial robot, which is a meta-aircraft composed of two or more TiltRotor hybrid aircraft systems capable of magnetically being coupled during hovering flight, and of executing VTOL / Fixed-Wing hybrid missions once combined. The proposed meta-aircraft system carries the advantage of improved aerodynamic efficiency due its increased cumulative planform aspect ratio, which can be leveraged to achieve prolonged flight times in collaborative multi-vehicle flight. We propose an extendable methodology for its control which relies on the multi-body equivalent dynamics, and we present the coupling mechanism design that facilitates its experimental demonstration. We accompany these contributions with a field test-driven evaluation study conducted with a bi-vehicle ARM-VTOL prototype. The presented sequence includes vehicle-to-vehicle magnetic coupling during hovering flight, and is followed by a combined-vehicle mission comprising vertical climb, VTOL-forward transition, fixed-wing flight and maneuvering, and reverse-transition to VTOL and landing.