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Universal Flying Objects (UFOs)
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https://ieeexplore.ieee.org/abstract/document/8920216 在本文中，我们介绍了一种通用飞行物平台，它是一种模块化的空中机器人平台，可以将刚性物体转变为多旋翼机器人。为了实现这一目标，我们开发了飞行模块，包括控制模块和推进模块，可以附着在一个物体上。物体或负载作为飞行器的机身。模块化的设计使该平台具有高度的灵活性，因为可以通过添加或删除飞行模块、调整模块的排列或更改负载来重新配置平台。为了便于飞行控制，我们提出了一种基于惯性测量单元（IMU）的估计策略，用于快速计算机器人的配置。当与自适应几何控制器相结合，进一步优化不确定参数时，稳定的飞行可以通过最小的手动干预或用户调整来实现。为此，我们通过使用四到八个推进模块，在不同的虚拟负载配置下演示了悬停和轨迹跟踪飞行。结果表明，由于所提出的基于IMU的估计方法，稳定的飞行是可以实现的。通过自适应方案，飞行性能随着时间的推移而显著改善，并在参数收敛后仅具有数厘米的位置误差。 In this article, we introduce Universal Flying Objects-a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control module and propelling modules that can be affixed to an object. The object, or payload, serves as the airframe of the vehicle. The modular design produces a highly versatile platform as it is reconfigurable by the addition or removal of flight modules, adjustment of the modules' arrangement, or change of payloads. To facilitate the flight control, we propose an inertial measurement unit (IMU)-based estimation strategy for rapid computation of the robot's configuration. When combined with the adaptive geometric controller for further refinement of uncertain parameters, stable flights are accomplished with minimal manual intervention or tuning required by a user. To this end, we demonstrate hovering and trajectory tracking flights through various robot configurations with different dummy payloads, weighing ≈200-800 g, using four to eight propelling modules. The results reveal that stable flights are attainable thanks to the proposed IMU-based estimation method. The flight performance is markedly improved over time through the adaptive scheme, with position errors of a few centimeters after the parameter convergence.
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