Autonomous Thrust-Assisted Perching of a Fixed-Wing UAV on Vertical Surfaces

被引：28

作者：

Mehanovic, Dino ^{[1
]}

Bass, John ^{[1
]}

Courteau, Thomas ^{[1
]}

Rancourt, David ^{[1
]}

Desbiens, Alexis Lussier ^{[1
]}

机构：

[1] Univ Sherbrooke, Sherbrooke, PQ J1K 2R1, Canada

来源：

BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2017 | 2017年 / 10384卷

关键词：

Perching; Multimodal; Scansorial; Fixed-wing; UAV; Drone; Bioinspired;

D O I：

10.1007/978-3-319-63537-8_26

中图分类号：

Q813 [细胞工程];

学科分类号：

摘要：

We present the first fixed-wing drone that autonomously perches and takes off from vertical surfaces. Inspired by birds, this airplane uses a thrust-assisted pitch-up maneuver to slowdown rapidly before touchdown. Microspines are used to cling to rough walls, while strictly onboard sensing is used for control. The effect of thrust on the suspension's landing envelope is analyzed and a simple vertical velocity controller is proposed to create smooth and robust descents towards a wall. Multiple landings are performed over a range of flight conditions (a video of S-MAD is available at: http://createk.recherche.usherbrooke.ca/LM2017/).

引用

页数：13

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