Flexbee：ソフトベクター推進ノズルを備えた把持・止まり木機能付きUAV
Flexbee: A Grasping and Perching UAV Based on Soft Vector-Propulsion Nozzle
ソフトベクター推進ノズルを4基搭載し、飛行・把持・止まり木を統合した新型UAV「Flexbee」を設計し、動力学モデルと階層制御戦略を構築して実験で有効性を検証した。
詳しい要約
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著者: Yue Wang, Lixian Zhang, Yimin Zhu, Yangguang Liu, Xuwei Yang
分類: cs.RO
原文アブストラクト
The aim of this paper is to design a new type of grasping and perching unmanned aerial vehicle (UAV), called Flexbee, which features a soft vector-propulsion nozzle (SVPN). Compared to previous UAVs, Flexbee integrates flight, grasping, and perching functionalities into the four SVPNs. This integration offers advantages including decoupled position and attitude control, high structural reuse, and strong adaptability strong adaptability for grasping and perching. A dynamics model of Flexbee has been developed, and the nonlinear coupling issue of the moment has been resolved through linearization of the equivalent moment model. A hierarchical control strategy was used to design controllers for the two operational modes of Flexbee. Finally, flight, grasping, and perching experiments were conducted to validate Flexbee's kinematic capabilities and the effectiveness of the control strategy.
