Paper Info
Title
Flight Motion Of Passing Through Small Opening By Dragon: Transformable Multilinked Aerial Robot
Abstract
In this paper, we introduce the achievement of the flight motion to pass through small opening by the multilinked and transformable aerial robot. Previous works about such motion are based on under-actuated multirotors, indicating that aggressive maneuvering is necessary condition. This involves two crucial problems: i) enough free space for deceleration is necessary, otherwise the robot would collide with unknown obstacle after exiting opening; ii) the multirotor can not traverse the openings that are smaller than the robot body. The proposed transformable aerial robot in our work can solve these problems, since the multilinked model can not only guarantee the near-hover condition during the whole motion sequence, but also slowly traverse relative small openings by changing its form like a snake. We first propose an improved dynamics derivation and flight control method for this multilinked aerial robot based on our previous work. Then, we present the path planning method which takes the flight stability in the near-hover condition into account. Finally we demonstrate the experimental results of the motion to pass through a horizontal and small opening which also involves the borders (the floor and the ceiling).
Year
DOI
Venue
2018
10.1109/IROS.2018.8593368
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Motion planning,Obstacle,Computer vision,Computer science,Draco (constellation),Ceiling (aeronautics),Acceleration,Artificial intelligence,Robot,Multirotor,Traverse
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
7
Name
Order
Citations
PageRank
Moju Zhao1288.38
Fan Shi25012.03
Tomoki Anzai3196.50
Krishneel Chaudhary411.38
Xiangyu Chen5267.46
Kei Okada6534118.08
Masayuki Inaba72186410.27