论文标题
带有单个无源轮的混合空中机动
Hybrid aerial ground locomotion with a single passive wheel
论文作者
论文摘要
利用与环境结构的联系为无人机提供了额外的力量支持，通常会降低功耗，从而延长任务时间。本文通过一种新型的空中杂种运动研究了一种这种方式，以利用环境中的平坦表面。我们的设计是在UAV底部集成的单个无源轮，迄今为止的设计最少。我们介绍了如此简单的设计及其控制的原则和实施。进行飞行实验，以验证地面运动引起的可行性和节能。结果表明，我们的最小设计允许成功的空中杂种运动，即使使用较不可控制的双杆无人机也是如此。地面运动可节省高达77％的电池，而无需进行太多调整。
Exploiting contacts with environment structures provides extra force support to a UAV, often reducing the power consumption and hence extending the mission time. This paper investigates one such way to exploit flat surfaces in the environment by a novel aerial-ground hybrid locomotion. Our design is a single passive wheel integrated at the UAV bottom, serving a minimal design to date. We present the principle and implementation of such a simple design as well as its control. Flight experiments are conducted to verify the feasibility and the power saving caused by the ground locomotion. Results show that our minimal design allows successful aerial-ground hybrid locomotion even with a less-controllable bi-copter UAV. The ground locomotion saves up to 77% battery without much tuning effort.
