A highly maneuverable flying squirrel drone with controllable foldable wings
- Title
- A highly maneuverable flying squirrel drone with controllable foldable wings
- Authors
- Kang, Jun-Gill; Lee, Dohyeon; HAN, SOOHEE
- Date Issued
- 2023-10-03
- Publisher
- IEEE
- Abstract
- Typical drones with multi rotors are generally
less maneuverable due to unidirectional thrust, which may
be unfavorable to agile flight in very narrow and confined
spaces. This paper suggests a new bio-inspired drone that is
empowered with high maneuverability in a lightweight and
easy-to-carry way. The proposed flying squirrel inspired drone
has controllable foldable wings to cover a wider range of flight
attitudes and provide more maneuverable flight capability with
stable tracking performance. The wings of a drone are fabricated
with silicone membranes and sophisticatedly controlled
by reinforcement learning based on human-demonstrated data.
Specially, such learning based wing control serves to capture
even the complex aerodynamics that are often impossible to
model mathematically. It is shown through experiment that the
proposed flying squirrel drone intentionally induces aerodynamic
drag and hence provides the desired additional repulsive
force even under saturated mechanical thrust. This work is very
meaningful in demonstrating the potential of biomimicry and
machine learning for realizing an animal-like agile drone.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/122414
- Article Type
- Conference
- Citation
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), page. 6652 - 6659, 2023-10-03
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