TY - GEN
T1 - Take-Off Trajectory Optimization of a Pigeon-Inspired Flapping Wing Robot
AU - Huang, Weimin
AU - Zhang, Shi
AU - Shen, Yishi
AU - Luo, Rundong
AU - Shi, Qing
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Birds take off to provide a rapid transition between ground and airborne for predator avoidance and flight initiation. This approach could extend the range of applications for flapping-wing robots. The hard-to-model, unsteady aerodynamics lead to less accurate control of robots. In addition, the success of a take-off is predicated on the need to choose an optimal flight path while sustain the body attitude. In this paper, we present a trajectory optimization algorithm for implementing the take-off of a flapping-wing robot. To accurately model the unsteady aerodynamics, the amplitude of the passive twisting angle was estimated using load cell experiment. Subsequently, a trajectory optimization of the robot's take-off at a height of 1 m was performed with minimum energy consumption as the objective function. We validated this method using a non-linear optimization simulation and demonstrated a flight of a 280 g flapping-wing robot. The average error between the simulation and the actual flight is less than 10%, demonstrating the effectiveness of the trajectory optimization algorithm. Overall, this work paves the way towards the application of flapping-wing robots for autonomous outdoor flight.
AB - Birds take off to provide a rapid transition between ground and airborne for predator avoidance and flight initiation. This approach could extend the range of applications for flapping-wing robots. The hard-to-model, unsteady aerodynamics lead to less accurate control of robots. In addition, the success of a take-off is predicated on the need to choose an optimal flight path while sustain the body attitude. In this paper, we present a trajectory optimization algorithm for implementing the take-off of a flapping-wing robot. To accurately model the unsteady aerodynamics, the amplitude of the passive twisting angle was estimated using load cell experiment. Subsequently, a trajectory optimization of the robot's take-off at a height of 1 m was performed with minimum energy consumption as the objective function. We validated this method using a non-linear optimization simulation and demonstrated a flight of a 280 g flapping-wing robot. The average error between the simulation and the actual flight is less than 10%, demonstrating the effectiveness of the trajectory optimization algorithm. Overall, this work paves the way towards the application of flapping-wing robots for autonomous outdoor flight.
KW - flapping-wing robot
KW - take-off
KW - trajectory optimization
UR - http://www.scopus.com/inward/record.url?scp=85180130976&partnerID=8YFLogxK
U2 - 10.1109/ICUS58632.2023.10318479
DO - 10.1109/ICUS58632.2023.10318479
M3 - Conference contribution
AN - SCOPUS:85180130976
T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
SP - 767
EP - 772
BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Y2 - 13 October 2023 through 15 October 2023
ER -
