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: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=683241
• 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.

无人驾驶汽车已用于自然和偶然的紧急情况，有时会取得成功，但更常见地证实了它们的潜力。尤其是无人飞机系统（UASS）是自主空中机器人，它们正在推动航空航天行业的增长，并彻底改变了许多商业和民用部门。尽管他们相对成功，但在实现UAS的全部潜力之前，必须实现许多发展。基于我以前在高度可操作的UA领域能够以零速度执行操作的领域的发展，拟议的研究将开发许多针对的机器人模块，以使UAS能够有效地在限制，结构性或无限制的空间中，在高空中，以及在该空间中无效，并有效地遵守，并在距离上有效地进行半自动地移动，并在该空间中有效，并有效地遵守距离，并且是有效的，并且有效地遵守了现实的距离，并且必须执行并避免任务。接下来的5年中，在Ramirez-Serrano博士的UAS计划中进行的发展包括下一代便携式和可扩展的重型升降机，高度可操纵的垂直起飞和降落UASS，用于直升机坚不可摧的环境，具有通过板载机器人武器进行工作的能力。此类发展将基于已成功开发的以前的无人机原型。具体而言，我们将使用可扩展的双罩螺旋桨VTOL无人机在高度狭窄的空间中进行操作。目的是扩展最近开发的UAS的当前功能，该功能能够执行任何其他飞机无法执行的操作，以使他们能够在先验未知的高度限制空间中执行此类操作，例如倒塌的建筑物，矿山，以及三个顶篷或城市或城市和工业的折磨。为了实现这一目标，UASS将包括以前开发的工具的增强版本，例如：i）3D导航和受限制的城市和自然环境的传感机制； ii）尽管有干扰，但能够改变UAS的态度的强大自适应控制器； iii）通过倾斜的螺旋桨倾斜矢量机制。使用裹尸布的主要原因是：1）与同一直径的自由支撑相比，推力增加了50％-70％； 2）噪声降低 - 设计经过正确设计的裹式螺旋桨的声音是免费道具的一半； 3）提高安全性。提出的UAS将通过机器人臂进一步增强，以执行有用的工作。目标应用集中在许多关键操作上，例如管道泄漏检测，城市搜索和救援，基础设施检查/维护以及旨在支持民用保护机构，消防队和EMS的警务。拟议的工作针对两个科学领域，即i）系统体系结构，以及II）感应，导航，控制和协调。