论文标题
SplitFlyer：一个模块化四边形，将两个飞行机器人分解为
SplitFlyer: a Modular Quadcoptor that Disassembles into Two Flying Robots
论文作者
论文摘要
我们介绍了Splitflyer，这是一个新颖的四轮驱动器，能够通过人类援助将其拆卸成两个独立的双色甲壳虫。作为亚基，双层杆菌是仅配备两个螺旋桨的严重不足的飞行器。尽管如此，每个双色甲壳虫还是能够独立飞行。为了实现这一目标，我们通过放松对偏航旋转的控制，从而对系统动力学进行分析，从而使双色机在飞行中保持其较大的旋转速率。考虑到陀螺运动，描述了动力学并制定了级联的控制策略。我们构建了一个可转换的原型，以演示两种配置中的连续飞行。结果验证了建议的控制策略，并显示了平台在模块化空中机器人技术中未来研究的潜力。
We introduce SplitFlyer--a novel quadcopter with an ability to disassemble into two self-contained bicopters through human assistance. As a subunit, the bicopter is a severely underactuated aerial vehicle equipped with only two propellers. Still, each bicopter is capable of independent flight. To achieve this, we provide an analysis of the system dynamics by relaxing the control over the yaw rotation, allowing the bicopter to maintain its large spinning rate in flight. Taking into account the gyroscopic motion, the dynamics are described and a cascaded control strategy is developed. We constructed a transformable prototype to demonstrate consecutive flights in both configurations. The results verify the proposed control strategy and show the potential of the platform for future research in modular aerial swarm robotics.
