FLOAT Drone: 近接作業向け完全駆動同軸飛行ロボット
FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations
制御翼を完全駆動型UAVに初めて統合し、横方向の気流外乱を抑えつつ、同軸二重ローターで小型・高効率ホバリングを実現した近接作業用ドローンの開発。
著者: Junxiao Lin, Shuhang Ji, Yuze Wu, Tianyue Wu, Zhichao Han, Fei Gao
分類: cs.RO, cs.AI
原文アブストラクト
How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting gravity. These competing demands create dynamic coupling effects during physical interactions. Furthermore, rotor-induced airflow disturbances critically undermine operational reliability. Although fully-actuated unmanned aerial vehicles (UAVs) alleviate dynamic coupling effects via six-degree-of-freedom (6-DoF) force-torque decoupling, existing implementations fail to address the aerodynamic interference between drones and environments. They also suffer from oversized designs, which compromise maneuverability and limit their applications in various operational scenarios. To address these limitations, we present FLOAT Drone (FuLly-actuated cOaxial Aerial roboT), a novel fully-actuated UAV featuring two key structural innovations. By integrating control surfaces into fully-actuated systems for the first time, we significantly suppress lateral airflow disturbances during operations. Furthermore, a coaxial dual-rotor configuration enables a compact size while maintaining high hovering efficiency. Through dynamic modeling, we have developed hierarchical position and attitude controllers that support both fully-actuated and underactuated modes. Experimental validation through comprehensive real-world experiments confirms the system's functional capabilities in close-proximity operations.
