A Torus Based Three Dimensional Motion Planning Model for Very Maneuverable Micro Air Vehicles

2012 ◽  
Author(s):  
Ryan Hurley ◽  
Richard Lind ◽  
Joseph Kehoe
Keyword(s):  
Motion Planning ◽  
Three Dimensional ◽  
Micro Air Vehicles ◽  
Planning Model ◽  
Air Vehicles

Design of fixed wing micro air vehicles

2007 ◽  
Vol 111 (1119) ◽  
pp. 315-326 ◽  
Author(s):  
P. Cosyn ◽  
J. Vierendeels
Keyword(s):  
Design Method ◽  
Three Dimensional ◽  
Micro Air Vehicles ◽  
Computational Design ◽  
Small Scale ◽  
Design Strategies ◽  
Lattice Method ◽  
Reynolds Number Flow ◽  
Multidisciplinary Design Optimisation ◽  
Air Vehicles

Abstract The paper describes the methodology and computational design strategies used to develop a series of fixed wing micro air vehicles (MAVs) at the Ghent University. The emphasis of the research is to find an optimal MAV-platform that is bound to geometrical constraints but superior in its performance. This requires a multidisciplinary design optimisation but the challenges are mainly of aerodynamic nature. Key areas are endurance, stability, controllability, manoeuvrability and component integration. The highly three-dimensional low Reynolds number flow, the lack of experimental databases and analytical or empirical models of MAV-aerodynamics required fundamental research of the phenomena. This includes the use of a vortex lattice method, three-dimensional CFD-computations and a numerical propeller optimisation method to derive the forces and their derivatives of the MAV and propeller for performance and stability-related optimisation studies. The design method leads to a simple, stable and robust flying wing MAV-platform that has the agility of a fighter airplane. A prototype, the UGMAV25, was constructed and flight tests were performed. The capabilities of the MAV were tested in a series of successful flight manoeuvres. The UGMAV15, a MAV with a span of 15cm, is also developed to test flight-qualities and endurance at this small scale. With the current battery technology, a flight-time of at least one hour is expected.

Three-dimensional computer vision for micro air vehicles

2001 ◽  
Author(s):  
Frank Pipitone ◽  
Behrooz Kamgar-Parsi ◽  
Ralph L. Hartley
Keyword(s):  
Computer Vision ◽  
Three Dimensional ◽  
Micro Air Vehicles ◽  
Air Vehicles

Extending Fitts’ Law to three-dimensional obstacle-avoidance movements: support for the posture-based motion planning model

2010 ◽  
Vol 207 (1-2) ◽  
pp. 133-138 ◽  
Author(s):  
Jonathan Vaughan ◽  
Deborah A. Barany ◽  
Anthony W. Sali ◽  
Steven A. Jax ◽  
David A. Rosenbaum
Keyword(s):  
Motion Planning ◽  
Obstacle Avoidance ◽  
Three Dimensional ◽  
Planning Model ◽  
Fitts Law

Forceful manipulation with micro air vehicles

2018 ◽  
Vol 3 (23) ◽  
pp. eaau6903 ◽  
Author(s):  
Matthew A. Estrada ◽  
Stefano Mintchev ◽  
David L. Christensen ◽  
Mark R. Cutkosky ◽  
Dario Floreano
Keyword(s):  
Three Dimensional ◽  
Micro Air Vehicles ◽  
Human Scale ◽  
End Effectors ◽  
Collapsed Building ◽  
Maximum Thrust ◽  
Air Vehicles

Micro air vehicles (MAVs) are finding use across an expanding range of applications. However, when interacting with the environment, they are limited by the maximum thrust they can produce. Here, we describe FlyCroTugs, a class of robots that adds to the mobility of MAVs the capability of forceful tugging up to 40 times their mass while adhering to a surface. This class of MAVs, which finds inspiration in the prey transportation strategy of wasps, exploits controllable adhesion or microspines to firmly adhere to the ground and then uses a winch to pull heavy objects. The combination of flight and adhesion for tugging creates a class of 100-gram multimodal MAVs that can rapidly traverse cluttered three-dimensional terrain and exert forces that affect human-scale environments. We discuss the energetics and scalability of this approach and demonstrate it for lifting a sensor into a partially collapsed building. We also demonstrate a team of two FlyCroTugs equipped with specialized end effectors for rotating a lever handle and opening a heavy door.

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