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Passive Wall Tracking for a Rotorcraft with Tilted and Ducted Propellers
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https://ieeexplore.ieee.org/abstract/document/9672751 该论文提出了一种基于多旋翼机器人与垂直表面间气动相互作用的被动壁随策略。为了增强接近效应,引入了一种带有倾斜和导流旋翼的车辆。动量理论被用来阐明在墙面附近推进推力的水平和垂直分量的变化。当模型和力测量与飞行动力学分析相结合时,揭示了当仅控制机器人的姿态和高度时,机器人与墙面之间存在稳定的距离。进行了飞行实验以验证可以通过姿态设定点或控制增益来操纵机器人与墙面之间的稳定距离,从而消除了位置反馈的需求。这些结果使得人类操作者可以在没有视觉或其他感测器的情况下轻松地将机器人安全地沿着走廊飞行而不会发生碰撞。 The letter proposes a passive wall following strategy for a multirotor robot based on the aerodynamic interaction between the propeller wake and the vertical surface. To reinforce the proximity effects, a vehicle with tilted and ducted propellers is introduced. Momentum theory is employed to elucidate the changes in horizontal and vertical components of the propelling thrust in the vicinity of a wall. The modeling and force measurements, when combined with the analysis of the flight dynamics, reveal the existence of a stable distance between the robot and a wall when only the attitude and altitude of the robot are controlled. Flight experiments were conducted to validate that the stable distance between the robot and the wall can be manipulated through the attitude setpoint or control gain, eliminating the need for position feedback. The outcomes enable a human operator to effortlessly fly the robot safely along a corridor without a collision in the absence of vision or other sensing instruments.
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