東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

FindBook

Google Book

Amazon

博客來

Design, Control and Trajectory Planning of Reconfigurable Quadrotors.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Design, Control and Trajectory Planning of Reconfigurable Quadrotors./
作者:	Patnaik, Karishma.
面頁冊數:	1 online resource (200 pages)
附註:	Source: Dissertations Abstracts International, Volume: 84-11, Section: B.
Contained By:	Dissertations Abstracts International84-11B.
標題:	Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30484673click for full text (PQDT)
ISBN:	9798379526771

Design, Control and Trajectory Planning of Reconfigurable Quadrotors.
Patnaik, Karishma.

Design, Control and Trajectory Planning of Reconfigurable Quadrotors. - 1 online resource (200 pages)

Source: Dissertations Abstracts International, Volume: 84-11, Section: B.

Thesis (Ph.D.)--Arizona State University, 2023.

Includes bibliographical references

Unmanned aerial vehicles (UAVs) have revolutionized various fields, but their use in dynamic environments is still limited due to safety concerns arising from sensor malfunctions and localization errors. Inspired by birds, which exhibit unparalleled maneuverability and adaptability to dynamic environments by synergizing mechanical compliance with control, this research focused on developing a new generation of bio-inspired soft/compliant UAVs with mechanical intelligence that can withstand collisions and enable aerial interaction. The proposed approach is to harness collision energies for collision resilience, agile flight behaviors and dynamic perching which helps retain stability and successfully fly even in the presence of external forces. It investigates various types of active/passive reconfigurable UAVs to demonstrate this idea. The first approach looked into designs of compliant reconfigurable quadrotors by employing springs which can reduce their dimension under external forces, thereby sustaining 2D planar collision forces and enabling flights through narrow gaps in a squeeze-and-fly manner. Next, fabric-based soft quadrotors are designed using pneumatic beams, which successfully demonstrate 3D collision resilience and impact-based perching. This research contributes to thorough modeling of the unique dynamics of these reconfigurable quadrotors and proposes various adaptive and learning-based controllers for robust low-level tracking. Finally, these controllers were integrated into a novel collision-inclusive motion planning framework based-on optimal control theory to perform physical interaction tasks, such as contact-based navigation, mapping, and inspection. In essence, this research redefines safety for UAVs and expands their capabilities for contact-rich tasks.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798379526771Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Aerial vehiclesIndex Terms--Genre/Form:

542853
Electronic books.

Design, Control and Trajectory Planning of Reconfigurable Quadrotors.
LDR:03189nmm a2200409K 4500 001 2362719
005 20231102122808.5
006 m o d
007 cr mn ---uuuuu
008 241011s2023 xx obm 000 0 eng d
020 $a 9798379526771
035 $a (MiAaPQ)AAI30484673
035 $a AAI30484673
040 $a MiAaPQ $b eng $c MiAaPQ $d NTU
100 1 $a Patnaik, Karishma. $3 3703460
245 1 0 $a Design, Control and Trajectory Planning of Reconfigurable Quadrotors.
264 0 $c 2023
300 $a 1 online resource (200 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Dissertations Abstracts International, Volume: 84-11, Section: B.
500 $a Advisor: Zhang, Wennlong.
502 $a Thesis (Ph.D.)--Arizona State University, 2023.
504 $a Includes bibliographical references
520 $a Unmanned aerial vehicles (UAVs) have revolutionized various fields, but their use in dynamic environments is still limited due to safety concerns arising from sensor malfunctions and localization errors. Inspired by birds, which exhibit unparalleled maneuverability and adaptability to dynamic environments by synergizing mechanical compliance with control, this research focused on developing a new generation of bio-inspired soft/compliant UAVs with mechanical intelligence that can withstand collisions and enable aerial interaction. The proposed approach is to harness collision energies for collision resilience, agile flight behaviors and dynamic perching which helps retain stability and successfully fly even in the presence of external forces. It investigates various types of active/passive reconfigurable UAVs to demonstrate this idea. The first approach looked into designs of compliant reconfigurable quadrotors by employing springs which can reduce their dimension under external forces, thereby sustaining 2D planar collision forces and enabling flights through narrow gaps in a squeeze-and-fly manner. Next, fabric-based soft quadrotors are designed using pneumatic beams, which successfully demonstrate 3D collision resilience and impact-based perching. This research contributes to thorough modeling of the unique dynamics of these reconfigurable quadrotors and proposes various adaptive and learning-based controllers for robust low-level tracking. Finally, these controllers were integrated into a novel collision-inclusive motion planning framework based-on optimal control theory to perform physical interaction tasks, such as contact-based navigation, mapping, and inspection. In essence, this research redefines safety for UAVs and expands their capabilities for contact-rich tasks.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2023
538 $a Mode of access: World Wide Web
650 4 $a Robotics. $3 519753
650 4 $a Aerospace engineering. $3 1002622
650 4 $a Automotive engineering. $3 2181195
650 4 $a Mechanical engineering. $3 649730
653 $a Aerial vehicles
653 $a Collision resilient robots
653 $a Motion planning
653 $a UAVs
653 $a Quadrotors
655 7 $a Electronic books. $2 lcsh $3 542853
690 $a 0771
690 $a 0548
690 $a 0538
690 $a 0540
710 2 $a ProQuest Information and Learning Co. $3 783688
710 2 $a Arizona State University. $b Systems Engineering. $3 3547811
773 0 $t Dissertations Abstracts International $g 84-11B.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30484673 $z click for full text (PQDT)