Transformable Multirotor with Two-dimensional Multilink: Modeling,Control, and Motion Planning for Aerial Transformation
Transformable Multirotor with Two-dimensional Multilink: Modeling,Control, and Motion Planning for Aerial Transformation
复制标题
二维多连杆可变形多旋翼飞行器：空中变形的建模、控制和运动规划
DOI：
10.1080/01691864.2016.1181006
复制
发表时间：
2016
影响因子：
2
通讯作者：
Masayuki Inaba
中科院分区：
文献类型：
--
作者：
Moju Zhao;Koji Kawasaki;Kei Okada;Masayuki Inaba
在本研究中，我们研究了一种具有二维多连杆的新型多旋翼飞行器，以演示在三维环境中稳定的空中转换以实现高机动性。我们的目标是解决穿越狭窄空间或缝隙的挑战，这是现有多旋翼结构的困难之一，特别是在灾难现场杂乱的室内环境中。这项研究包括三个步骤。首先，建立了由二维多连杆组成的多旋翼连杆模块的建模，并进行了四旋翼原型机的设计。其次，在线性二次积分最优控制的基础上，导出了航空变换的稳定飞行控制方法。第三，采用状态验证方法和关节空间路径优化方法研究了空中变换的运动规划，以保持变换过程中的稳定性。成功的空中变换和原型机通过窄间隙的能力证明了我们提出的可变形多旋翼在复杂三维环境中空中机动的可行性和实用性。
In this study, we investigated a novel type of the multirotor aerial vehicle with two-dimensional multilinks to demonstrate stable aerial transformation for high mobility in three-dimensional environments. Our goal was to tackle the challenge of traversing narrow spaces or gaps, which is one of the difficulties for existing structure of multirotors, especially in the cluttered indoor environment of disaster sites. The research involved three steps. First, we developed the modeling of the link modules that compose a multirotor with two-dimensional multilinks and conducted a quadrotor prototype. Second, we derived a stable flight control method for aerial transformation on the basis of linear-quadratic-integral optimal control. Third, we investigated the motion planning for the aerial transformation using a state validation method and path optimization in the joint space to maintain the stability during transformation. Successful aerial transformation and the ability of the prototype to negotiate narrow gaps were demonstrated, confirming the feasibility and utility of our proposed transformable multirotor for aerial maneuvering in complex three-dimensional environments.