论文标题
具有二十面体紧密结构的碰撞弹性航空车的设计和控制
Design and control of a collision-resilient aerial vehicle with an icosahedron tensegrity structure
论文作者
论文摘要
我们引入了具有二十面体张力结构的碰撞弹性航空车，能够在碰撞后幸存下来的高速冲击和恢复操作。我们提出了一种基于模型的设计方法，该方法通过通过动力学模拟预测结构应力来指导张力组件的选择。此外，我们开发了一个自主重新定位控制器，以促进往事后飞行恢复。控制器使车辆能够从地面上的任意方向旋转起飞。凭借碰撞的弹性和重新定位能力，紧张的航空车可以在混乱的环境中运行，而无需复杂的避免碰撞策略。这些功能通过在以前未知的森林环境中自动操作的实验车辆的测试来验证。
We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations post-collision. We present a model-based design approach, which guides the selection of the tensegrity components by predicting structural stresses through a dynamics simulation. Furthermore, we develop an autonomous re-orientation controller that facilitates post-collision flight resumption. The controller enables the vehicles to rotate from an arbitrary orientation on the ground for takeoff. With collision resilience and re-orientation ability, the tensegrity aerial vehicles can operate in cluttered environments without complex collision-avoidance strategies. These capabilities are validated by a test of an experimental vehicle operating autonomously in a previously-unknown forest environment.
