TY - GEN
T1 - Principles on Longitudinal Perching Dynamics of Fixed-Wing Flying Robots
AU - Chang, Min
AU - Sun, Yang
AU - Bai, Junqiang
AU - Xiao, Lei
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - Flying robot has been widely used for both civilian and military application due to its portability and high maneuverability. However, mission endurance decreases with shrinking size due to reduction in aerodynamic efficiency and poor energy density of battery. Inspired by birds perching after long-distance migration, extended mission duration would be desired if flying robot obtains the ability of perching. In present paper, longitudinal dynamics of fixed wing flying robot is explored in the process of post-stall perching. First, the longitudinal kinematical equations and dynamic equations are derived for the simplified model of a flying robot and solved using the methods of value iteration and time advancement. Then, typical perching trajectory is generated and features of perching behaviors are analyzed. Finally, an impact study is carried out to acquire the influence of approaching velocity and control sequence.
AB - Flying robot has been widely used for both civilian and military application due to its portability and high maneuverability. However, mission endurance decreases with shrinking size due to reduction in aerodynamic efficiency and poor energy density of battery. Inspired by birds perching after long-distance migration, extended mission duration would be desired if flying robot obtains the ability of perching. In present paper, longitudinal dynamics of fixed wing flying robot is explored in the process of post-stall perching. First, the longitudinal kinematical equations and dynamic equations are derived for the simplified model of a flying robot and solved using the methods of value iteration and time advancement. Then, typical perching trajectory is generated and features of perching behaviors are analyzed. Finally, an impact study is carried out to acquire the influence of approaching velocity and control sequence.
KW - flying robot
KW - longitudinal dynamics
KW - micro aerial vehicle (MAV)
KW - perching
KW - perching trajectory
KW - post-stall
UR - http://www.scopus.com/inward/record.url?scp=85083267364&partnerID=8YFLogxK
U2 - 10.1109/ICRAE48301.2019.9043819
DO - 10.1109/ICRAE48301.2019.9043819
M3 - 会议稿件
AN - SCOPUS:85083267364
T3 - 2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
SP - 191
EP - 195
BT - 2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
Y2 - 22 November 2019 through 24 November 2019
ER -