|
|||||
|
|
A novel autonomous self-assembly distributed swarm flying robot |
|
| Authors: | , Wei Hongxing , Li Ning , Liu Miao , Tan Jindong |
| Institution: | 1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China 2. Shanghai Institute of Microsystem and Information Technology, Shanghai 200050, China 3. Biomedical Engineering Department, University of Tennessee, Knoxville, TN 37996, USA |
| Abstract: | Swarm intelligence embodied by many species such as ants and bees has inspired scholars in swarm robotic researches. This paper presents a novel autonomous self-assembly distributed swarm flying robot-DSFR, which can drive on the ground, autonomously accomplish self-assembly and then fly in the air coordinately. Mechanical and electrical designs of a DSFR module, as well as the kinematics and dynamics analysis, are specifically investigated. Meanwhile, this paper brings forward a generalized adjacency matrix to describe configurations of DSFR structures. Also, the distributed flight control model is established for vertical taking-off and horizontal hovering, which can be applied to control of DSFR systems with arbitrary configurations. Finally, some experiments are carried out to testify and validate the DSFR design, the autonomous self-assembly strategy and the distributed flight control laws. |
| Keywords: | Distributed control Flight control system Flying robot Self assembly Swarm intelligence |
| 本文献已被 CNKI 万方数据 ScienceDirect 等数据库收录！ | |