Scalable Highly Maneuverable Unmanned Aerial Vehicles v2.0 for Confined Spaces.

适用于密闭空间的可扩展、高度机动的无人机 v2.0。

• 批准号: RGPIN-2015-05410
• 负责人: RamirezSerrano, Alejandro
• 金额: $ 2.11万
• 依托单位: University of Calgary
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=590411
• 关键词: Scalable; Highly; Maneuverable; Unmanned; Aerial

Unmanned vehicles have been used in natural and accidental emergencies, and diverse missions sometimes with success, but more often just confirming their potential. Unmanned Aircraft Systems (UASs), in particular, are autonomous aerial robots that are driving growth in the aerospace industry and revolutionizing many commercial and civil sectors. Despite their relative success a number of developments must be realized before the full potential of UAS can be realized. Based on my previous UAS developments in the area of highly maneuverable UAS capable of performing maneuvers at zero speed, the proposed research will develop a number of robotic modules targeted to enable UAS to effectively move semi-autonomously and autonomously within confined, structured or unstructured, spaces, at low altitudes, in close proximity to infrastructure, and at high speeds where no GPS is available and where effective real-time sense and avoid tasks must be performed. The developments to be performed within Dr. Ramirez-Serrano’s UAS program in the next 5 years include a next generation portable and scalable heavy lift highly maneuverable Vertical Take-Off and Landing UASs for helicopter impenetrable environments having the ability to perform work via on-board robot arms. Such developments will be based on previous UAV prototypes that have been successfully developed. Specifically, we will use a scalable twin shrouded-propeller VTOL UAV for operations in highly confined spaces. The goal is to extend the current capabilities of recently developed UAS, which are capable of performing maneuvers that no other aircraft can execute, to enable them to perform such maneuvers within a priori unknown highly confined spaces such as collapsed buildings, mines, and within the three canopy or urban and industrial entrapments. To make this possible, the UASs will include enhanced versions of previously developed tools an algorithms such as: i) 3D navigation and sensing mechanisms for confined urban and natural environments; ii) Robust adaptive controllers capable of changing the attitude of the UAS despite disturbances; and iii) Thrust vectoring mechanisms via tilting shrouded-propellers. The primary reasons for using shrouded-props are: 1) Increased thrust by 50%-70% when compared to a free prop of the same diameter; 2) Reduced Noise - A properly designed shrouded-prop is half as loud as a free prop; and 3) Improved Safety. The proposed UAS will be further enhanced with robotic arms to perform useful work. The target applications focus on a number of critical operations such as pipeline leak detection, urban search & rescue, infrastructure inspection/maintenance, and policing aimed at supporting Civil Protection Agencies, Fire brigades and EMS. The proposed work targets two scientific areas, namely i) system architecture, and ii) sensing, navigation, control and coordination.

无人机已被用于自然和意外紧急情况以及各种任务中，有时会取得成功，但更多时候只是证实了它们的潜力，特别是无人机系统（UAS），它是推动航空航天业发展并带来革命性变革的自主空中机器人。根据我之前在能够进行零机动的高度机动无人机领域的发展，尽管它们取得了相对成功，但在发挥无人机的全部潜力之前，还必须实现一些发展。速度，拟议的研究将开发许多机器人模块，旨在使 UAS 能够在有限的、结构化或非结构化的空间内、低海拔、靠近基础设施以及在没有 GPS 的情况下高速有效地半自主和自主移动Ramirez-Serrano 博士的 UAS 计划将在未来 5 年内进行开发，其中包括下一代便携式、可扩展的重型高度机动垂直无人机。用于直升机难以穿越的环境的起飞和着陆无人机能够通过机载机器人手臂执行工作，具体来说，我们将使用可扩展的双护罩螺旋桨垂直起降无人机原型。用于在高度受限空间内运行的无人机的目标是扩展最近开发的无人机的当前能力，这些无人机能够执行其他飞机无法执行的机动，使其能够在先验未知的情况下执行此类机动。为了实现这一点，无人机系统将包括先前开发的工具和算法的增强版本，例如：i）用于受限城市的 3D 导航和传感机制。和自然环境；ii) 能够在受到干扰的情况下改变无人机姿态的鲁棒自适应控制器；以及 iii) 通过倾斜护罩螺旋桨的推力矢量机制使用护罩螺旋桨的主要原因。包括：1) 与相同直径的自由支柱相比，推力增加 50%-70%；2) 降低噪音 - 正确设计的带罩支柱的噪音只有自由支柱的一半；3) 建议提高安全性。无人机系统将通过机械臂得到进一步增强，以执行有用的工作，重点是管道泄漏检测、城市搜索和救援、基础设施检查/维护以及旨在支持民防机构、消防部门的警务工作。拟议的工作针对两个科学领域，即 i) 系统架构，以及 ii) 传感、导航、控制和协调。