Abstract
A multi-propeller and multi-function aero-robot which can realize both functions of flight and wall-climbing is presented in this article. The construction of this novel robot is designed. The working principle of the robot's multi-function including wall-climbing and flight is analyzed, especially the principle of attitude control with multi-propeller. The dynamics and kinematics model of the robot when it is in wall-climbing mode is researched. Based on the model, the motion planning of the robot in wall-climbing mode is studied by considering the principle of attitude control with multi-propeller. The stabilization controller of the robot when it is in wall-climbing mode is designed by using trajectory linearization control (TLC) method. The simulation research of the robot in leg-wall-climbing mode is finished in the environment of MATLAB software. Through simulation, the feasibility of the designed motion planning and the stabilization control algorithm of the robot are verified.
| Original language | English |
|---|---|
| Pages (from-to) | 2075-2086 |
| Number of pages | 12 |
| Journal | Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica |
| Volume | 31 |
| Issue number | 10 |
| Publication status | Published - Oct 2010 |
| Externally published | Yes |
Keywords
- Control
- Dynamics
- Flight
- Motion planning
- Propellers
- Wall-climbing
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