{"title":"WuKong: Design, Modeling and Control of a Compact Flexible Hybrid Aerial-Aquatic Vehicle","authors":"Yufan Liu;Cheng Li;Junjie Li;Zemin Lin;Wei Meng;Fumin Zhang","doi":"10.1109/LRA.2024.3521659","DOIUrl":null,"url":null,"abstract":"The significant differences in the physical properties of air and water pose a substantial challenge for the development of hybrid aerial-aquatic vehicle (HAAV), which leading to increased prototype size, heavier thrusters, and reduced efficiency or under-actuation in one of the mediums. This letter introduces “WuKong”, a HAAV with a simple structure, compact size, and high maneuverability. WuKong has a maximum width of only 300 mm in one dimension, with 2.48 thrust-to-weight ratio. Its operational range spans 20 m in the air and 3 m underwater, enabling seamless cross-domain maneuvers. These capabilities are attributed to the use of separate thrusters for aerial and aquatic, in conjunction with the proposed cross-domain hybrid control framework, and the incremental nonlinear dynamic inversion (INDI)-based underwater attitude control law. Through simulations and field experiments, WuKong's cross-domain transition capability and the underwater maneuverability performance are demonstrated. Our development provides a practical solution for HAAV applications and offers a platform for subsequent HAAV collaborative tasks.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 2","pages":"1417-1424"},"PeriodicalIF":4.6000,"publicationDate":"2024-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Robotics and Automation Letters","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10814088/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
The significant differences in the physical properties of air and water pose a substantial challenge for the development of hybrid aerial-aquatic vehicle (HAAV), which leading to increased prototype size, heavier thrusters, and reduced efficiency or under-actuation in one of the mediums. This letter introduces “WuKong”, a HAAV with a simple structure, compact size, and high maneuverability. WuKong has a maximum width of only 300 mm in one dimension, with 2.48 thrust-to-weight ratio. Its operational range spans 20 m in the air and 3 m underwater, enabling seamless cross-domain maneuvers. These capabilities are attributed to the use of separate thrusters for aerial and aquatic, in conjunction with the proposed cross-domain hybrid control framework, and the incremental nonlinear dynamic inversion (INDI)-based underwater attitude control law. Through simulations and field experiments, WuKong's cross-domain transition capability and the underwater maneuverability performance are demonstrated. Our development provides a practical solution for HAAV applications and offers a platform for subsequent HAAV collaborative tasks.
期刊介绍:
The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.