首页|Design and Control of an Autonomous Bat-like Perching UAV

Design and Control of an Autonomous Bat-like Perching UAV

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Perching allows small Unmanned Aerial Vehicles(UAVs)to maintain their altitude while significantly extending their flight duration and reducing noise.However,current research on flying habitats is poorly adapted to unstructured environments,and lacks autonomous capabilities,requiring ideal experimental environments and remote control by personnel.To solve these problems,in this paper,we propose a bat-like UAV perching mechanism by investigating the bat upside-down perch-ing method,which realizes double self-locking in the perching state using the ratchet and four-link dead point mechanisms.Based on this perching mechanism,this study proposes a control strategy for UAVs to track targets and accomplish flight perching autonomously by combining a binocular camera,single-point LiDAR,and pressure sensors.Autonomous perch-ing experiments were conducted for crossbar-type objects outdoors.The experimental results show that a multirotor UAV equipped with the perching mechanism and sensors can reliably achieve autonomous flight perching and re-flying off the target outdoors.The power consumption is reduced to 2.9％of the hovering state when perched on the target object.

Bio-inspired designPerching mechanismUAVAutonomous flight

Long Bai、Wei Wang、Xiaohong Chen、Yuanxi Sun

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State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China

National Key Research & Development Program of ChinaNational Natural Science Foundation of ChinaChina Postdoctoral Science FoundationNatural Science Foundation of Chongqing,China

2020YFB1313000620030602022M720566CSTB2022NSCQ-MSX1297

2024

10.1007/s42235-024-00502-w

仿生工程学报(英文版)
吉林大学

仿生工程学报(英文版)

CSTPCDEI
影响因子：0.837
ISSN：1672-6529
年,卷(期)：2024.21(3)
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