WuKong: Design, Modeling and Control of a Compact Flexible Hybrid Aerial-Aquatic Vehicle

IF 4.6 2区 计算机科学 Q2 ROBOTICS IEEE Robotics and Automation Letters Pub Date : 2024-12-25 DOI:10.1109/LRA.2024.3521659
Yufan Liu;Cheng Li;Junjie Li;Zemin Lin;Wei Meng;Fumin Zhang
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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.
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悟空:一种紧凑型柔性空水混合飞行器的设计、建模与控制
空气和水在物理性质上的显著差异给混合式空水交通工具(HAAV)的发展带来了巨大的挑战,这将导致原型尺寸的增加,推进器的重量增加,以及其中一种介质的效率降低或驱动不足。这封信介绍了一种结构简单、体积紧凑、机动性高的HAAV“悟空”。“悟空”在一维上的最大宽度只有300毫米,推重比2.48。其作战范围为空中20米,水下3米,可实现无缝跨域机动。这些能力归功于在空中和水中使用单独的推进器,结合所提出的跨域混合控制框架和基于增量非线性动态反演(INDI)的水下姿态控制律。通过仿真和现场试验,验证了“悟空”的跨域过渡能力和水下机动性能。我们的开发为HAAV应用提供了一个实用的解决方案,并为后续的HAAV协作任务提供了一个平台。
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来源期刊
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters Computer Science-Computer Science Applications
CiteScore
9.60
自引率
15.40%
发文量
1428
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.
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