Development of an autonomous flapping-wing aerial vehicle

查看全文 作　　者：Wei [1]HE;Haifeng [1]HUANG;Yunan [1]CHEN;Wenzhen [1]XIE;Fusen [1]FENG;Yemeng [1]KANG;Changyin [2]SUN

机构地区：[1]School of Automation and Electrical Engineering, University of Science and Technology Beijing;[2]School of Automation, Southeast University

出　　处：《Science China(Information Sciences)》索引2017年第60卷第6期,共8页

基　　金：supported by National Natural Science Foundation of China (Grant Nos. 61522302, 61520106009, 61533008);Beijing Natural Science Foundation (Grant No. 4172041);Fundamental Research Funds for the China Central Universities of USTB (Grant No. FRF-TP-15-005C1) 摘　　要：The flapping-wing aerial vehicle(FWAV) has appealed to more and more researchers recently owing to its outstanding performance in various domains and the development of some related technologies. The research on autonomous flight control of the FWAV involves many challenges and is still in nascent stages. In this work, we develop an FWAV with a mass of 14.1 g and build a vision-based experimental platform. A modelbased controller is proposed on the basis of theory and simulation results prove its effectiveness. A PID control algorithm based on visual measurement is utilized to achieve the height-keeping control of the FWAV, and a software platform is designed to record the flight status determined using Euler angles and position information. 关键词：扑翼飞行器 PID控制算法飞行控制视觉测量研究人员实验平台仿真结果基于模型

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Development of an autonomous flapping-wing aerial vehicle

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