A novel autonomous self-assembly distributed swarm flying robot

被引：0

作者：

Wei Hongxing ^{[1
]}

Li Ning ^{[1
]}

Liu Miao ^{[2
]}

Tan Jindong ^{[3
]}

机构：

[1] School of Mechanical Engineering and Automation, Beihang University

[2] Shanghai Institute of Microsystem and Information Technology

[3] Biomedical Engineering Department, University of Tennessee

来源：

Chinese Journal of Aeronautics | 2013年 / 03期

关键词：

Distributed control; Flight control system; Flying robot; Self assembly; Swarm intelligence;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

Swarm intelligence embodied by many species such as ants and bees has inspired scholars in swarm robotic researches. This paper presents a novel autonomous self-assembly distributed swarm flying robot-DSFR, which can drive on the ground, autonomously accomplish self-assembly and then fly in the air coordinately. Mechanical and electrical designs of a DSFR module, as well as the kinematics and dynamics analysis, are specifically investigated. Meanwhile, this paper brings forward a generalized adjacency matrix to describe configurations of DSFR structures. Also, the distributed flight control model is established for vertical taking-off and horizontal hovering, which can be applied to control of DSFR systems with arbitrary configurations. Finally, some experiments are carried out to testify and validate the DSFR design, the autonomous self-assembly strategy and the distributed flight control laws.

引用

页码：791 / 800

页数：10