Advanced Controller Development for Spiri Unmanned Aerial Vehicle

Pleaides自1999年以来一直存在，于2012年启动了一个机器人部门，以开发一种新型的无人机 无人机（UAV），称为SPIRI。无人机市场在北美和新的 无人机的应用正在迅速出现。Pleaides开发的四旋翼飞行器具有许多 独特的功能使其特别适合室内自主操作：其四个螺旋桨 这意味着在发生碰撞时，螺旋桨和电机 可能抵抗可能的损坏，并且车辆可以从碰撞中恢复并继续其操作。 为了充分利用市场潜力，Pleaides公司迅速进入无人机市场是可取的， SPIRI的独特能力。在这个Engage赠款的过程中，我们计划开发更先进的控制器 对于SPIRI来说，既要提高其当前的性能，又要扩大其机动能力。我们还将 进行螺旋桨性能的详细调查，以及它是如何受到影响的存在一个丝带， 以便可能地改进平台的设计。沙夫教授一直致力于 无人驾驶飞行器，特别是四旋翼，多年来，专注于提高自主性， 小型无人机通过推进国家的最先进的估计技术，定位和映射算法 和控制策略。两名工程硕士学生和一名研究工程师将直接参与开发 SPIRI的动力学模型和控制器，以改善其姿态稳定性并允许SPIRI恢复 在着陆或起飞过程中可能发生的意外翻转。虽然发达国家和 经过专门针对SPIRI的测试，在这项研究中获得的方法和知识将被证明是有用的 用于其他小型旋转无人机的先进控制器设计。预计这些新开发的 在项目实施过程中将发生的能力和技术转让将为进一步的合作奠定基础 SPIRI平台的开发。SPIRI的附加值将在超速方面对Pleaides有所帮助 市场准入和消费者对SPIRI车辆的成功采用。

Pleaides, in existence since 1999, kick-started a robotics division in 2012 to develop a novel unmanned aerial vehicle (UAV), called SPIRI. The UAV market is undergoing high growth in North America and new applications of UAVs are emerging rapidly. The quadrotor vehicle developed by Pleaides has a number of unique features which make it particularly suitable for autonomous operation indoors: its four propellers are individually protected by ribbons which means that in the event of collision, the propellers and the motor are likely to resist possible damage and, the vehicle can recover from a collision and continue its operation. Expedient entry of Pleaides into the UAV market would be desirable to capitalize on the market potential and SPIRI's unique capabilities. In the course of this Engage grant, we plan to develop more advanced controllers for SPIRI, to both improve its current performance, but also to expand its maneuvering repertoire. We will also conduct a detailed investigation of propeller performance and how it is affected by the presence of a ribbon, with the view to possibly improving the design of the platform. Professor Sharf has been working in the area of unmanned aerial vehicles, specifically quadrotors, for a number of years, focusing on improving autonomy of small UAVs by advancing the state-of-the-art in estimation techniques, localization and mapping algorithms and control strategies. Two MEng students and one research engineer will be directly involved in developing the dynamics model and controllers for SPIRI to improve its attitude stabilization and to allow SPIRI to recover from an accidental flip-over, as can happen at landing or during a take-off maneuver. Although developed and tested specifically for SPIRI, the methodologies and knowledge gained during this research will prove useful for advanced controller design for other small rotary UAVs. It is anticipated that these newly developed capabilities and technology transfer to occur during the project will set the stage for further collaborative development of the SPIRI platform. The added value to SPIRI will be helpful to Pleaides in terms of speeding up market entry and successful adoption of the SPIRI vehicle by consumers.