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A Modular Quadcopter That Disassembles Into Two Bicopters Mid-Air
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https://ieeexplore.ieee.org/abstract/document/9761971 受到严重欠驱动旋翼飞行能力的激励,我们推出了一种可变形四旋翼飞行器——SplitFlyer Air。这种新型飞行器由两个双旋翼模块组成,每个模块仅配备两个螺旋桨,能够进行位置控制飞行。尽管它们的飞行模式有明显的不同,但无论是在双旋翼还是四旋翼配置下,这些机器人都可以通过一个单一框架进行建模和控制。在飞行实验中,设计并采用了一种预装弹性能量的分离机构,以帮助SplitFlyer Air自主拆卸。这种弹射机构提供了双旋翼的初始偏航速率,加速它们达到悬停状态,同时不会失去稳定性或显著的高度。由于开发的控制器和设计的机构,变形飞行的可靠实现成为可能。在空中分离的能力为搜索和救援任务或其他群体应用提供了希望,因为它允许群体大小随需求自适应增长。 Motivated by the flight ability of severely underactuated rotorcraft, we introduce a transformable quadcopter—SplitFlyer Air. The novel vehicle consists of two bicopter modules, each equipped with only two propellers and capable of position-controlled flight. Despite the notable difference in their flight regimes, the robots, in both the bicopter and quadcopter configurations, can be modeled and controlled by a single framework. In the flight experiments, an undocking mechanism with preloaded elastic energy was designed and employed to assist SplitFlyer Air to disassemble autonomously. The catapult-inspired mechanism provides initial yaw rates for the bicopters, accelerating them to reach their hovering states without losing stability or substantial altitude. Thanks to the developed controller and devised mechanism, the transformation flights can be reliably achieved. The ability to disassemble mid-air shows promise for search and rescue missions or other swarm applications as it allows the flock size to adaptively grow on demand.
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