TY - GEN
T1 - Towards Flying Carpet
T2 - 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022
AU - Sun, Jiali
AU - Yu, Yushu
AU - Xu, Bin
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - Aerial systems assembled from multiple modules have the potential to perform tasks that are difficult for traditional aerial vehicles. In this work, we propose a novel aerial system, Carpet, which is composed by a matrix of quadrotor modules. In Carpet, a column of quadrotor modules connects to the neighbouring column via revolute joints. By adjusting the joint angles, Carpet is capable of working in flight mode and terrestrial mode. This is the first time that UAV assembly with this configuration is analyzed. The terrestrial mode could potentially increase the energy efficiency of aerial systems. While in flight mode, Carpet can fold up or expand to adapt to different tasks or environments, e.g., curling up to U form can make it more compact and agile when passing through narrow channels. The dynamics of Carpet is investigated. It is found that the entire Carpet in flight mode can produce 5D force/torque, and the joints connecting columns do not need extra actuators. The differential flatness of Carpet is analyzed. The motion controller and the trajectory generator are designed based on the differential flatness. The proposed trajectory planning method is able to guide Carpet to pass through narrow corridors. Numerical simulations are presented, illustrating the feasibility of the proposed Carpet.
AB - Aerial systems assembled from multiple modules have the potential to perform tasks that are difficult for traditional aerial vehicles. In this work, we propose a novel aerial system, Carpet, which is composed by a matrix of quadrotor modules. In Carpet, a column of quadrotor modules connects to the neighbouring column via revolute joints. By adjusting the joint angles, Carpet is capable of working in flight mode and terrestrial mode. This is the first time that UAV assembly with this configuration is analyzed. The terrestrial mode could potentially increase the energy efficiency of aerial systems. While in flight mode, Carpet can fold up or expand to adapt to different tasks or environments, e.g., curling up to U form can make it more compact and agile when passing through narrow channels. The dynamics of Carpet is investigated. It is found that the entire Carpet in flight mode can produce 5D force/torque, and the joints connecting columns do not need extra actuators. The differential flatness of Carpet is analyzed. The motion controller and the trajectory generator are designed based on the differential flatness. The proposed trajectory planning method is able to guide Carpet to pass through narrow corridors. Numerical simulations are presented, illustrating the feasibility of the proposed Carpet.
KW - Differential flatness control
KW - Minimum-snap trajectory planning
KW - Reconfigurable aerial systems
UR - http://www.scopus.com/inward/record.url?scp=85149821992&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-0617-8_24
DO - 10.1007/978-981-99-0617-8_24
M3 - Conference contribution
AN - SCOPUS:85149821992
SN - 9789819906161
T3 - Communications in Computer and Information Science
SP - 351
EP - 370
BT - Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers
A2 - Sun, Fuchun
A2 - Cangelosi, Angelo
A2 - Zhang, Jianwei
A2 - Yu, Yuanlong
A2 - Liu, Huaping
A2 - Fang, Bin
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 17 December 2022 through 18 December 2022
ER -
