翼付きドローンのモーフィングトポロジーと制御の共設計最適化
Co-Design Optimisation of Morphing Topology and Control of Winged Drones
翼付きドローンについて、トポロジー・アクチュエーション・モーフィング戦略・制御パラメータを同時に最適化する共設計手法を提案し、固定翼機よりエネルギー効率とミッション時間で優れることを示した。
著者: Fabio Bergonti, Gabriele Nava, Valentin Wüest, Antonello Paolino, Giuseppe L'Erario, Daniele Pucci, Dario Floreano
分類: cs.RO
原文アブストラクト
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, morphing drones require the addition of actuated joints that increase the topology and control coupling, making the design process more complex. We propose a co-design optimisation method that assists the engineers by proposing a morphing drone's conceptual design that includes topology, actuation, morphing strategy, and controller parameters. The method consists of applying multi-objective constraint-based optimisation to a multi-body winged drone with trajectory optimisation to solve the motion intelligence problem under diverse flight mission requirements, such as energy consumption and mission completion time. We show that co-designed morphing drones outperform fixed-winged drones in terms of energy efficiency and mission time, suggesting that the proposed co-design method could be a useful addition to the aircraft engineering toolbox.
