COMET：高機動・長航続を実現するデュアルスワッシュプレート式同軸バイコプター自律飛行体
COMET: A Dual Swashplate Autonomous Coaxial Bi-copter AAV with High-Maneuverability and Long-Endurance
二重スワッシュプレート機構を備えた同軸バイコプター型ドローンのプラットフォームを開発し、飛行実験により機動性と効率の向上を実証した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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4. どうやって有効だと検証した？
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著者: Shuai Wang, Xiaoming Tang, Junning Liang, Haowen Zheng, Biyu Ye, Zhaofeng Liu, Fei Gao, Ximin Lyu
分類: cs.RO
原文アブストラクト
Coaxial bi-copter autonomous aerial vehicles (AAVs) have garnered attention due to their potential for improved rotor system efficiency and compact form factor. However, balancing efficiency, maneuverability, and compactness in coaxial bi-copter systems remains a key design challenge, limiting their practical deployment. This letter introduces COMET, a coaxial bi-copter AAV platform featuring a dual swashplate mechanism. The coaxial bi-copter system's efficiency and compactness are optimized through bench tests, and the whole prototype's efficiency and robustness under varying payload conditions are verified through flight endurance experiments. The maneuverability performance of the system is evaluated in comprehensive trajectory tracking tests. The results indicate that the dual swashplate configuration enhances tracking performance and improves flight efficiency compared to the single swashplate alternative. Successful autonomous flight trials across various scenarios verify COMET's potential for real-world applications.
