دورية أكاديمية
Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone
| العنوان: | Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone |
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| المؤلفون: | Sergei Savin, Amer Al Badr, Dmitry Devitt, Roman Fedorenko, Alexandr Klimchik |
| المصدر: | Applied Sciences, Vol 12, Iss 11, p 5588 (2022) |
| بيانات النشر: | MDPI AG, 2022. |
| سنة النشر: | 2022 |
| المجموعة: | LCC:Technology LCC:Engineering (General). Civil engineering (General) LCC:Biology (General) LCC:Physics LCC:Chemistry |
| مصطلحات موضوعية: | tensegrity drone, morphing planning, mixed-integer programming, big-M relaxation, configuration dataset, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999 |
| الوصف: | This paper proposes a method for simultaneously planning a path and a sequence of deformations for a tensegrity drone. Previous work in the field required the use of bounding surfaces, making the planning more conservative. The proposed method takes advantage of the need to use mixed-integer variables in choosing the drone path (using big-M relaxation) to simultaneously choose the configuration of the drone, eliminating the need to use semidefinite matrices to encode configurations, as was done previously. The numerical properties of the algorithm are demonstrated in numerical studies. To show the viability of tensegrity drones, the first tensegrity quadrotor Tensodrone was build. The Tensodrone is based on a six-bar tensegrity structure that is inherently compliant and can withstand crash landings and frontal collisions with obstacles. This makes the robot safe for the humans around it and protects the drone itself during aggressive maneuvers in constrained and cluttered environments, a feature that is becoming increasingly important for challenging applications that include cave exploration and indoor disaster response. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2076-3417 |
| Relation: | https://www.mdpi.com/2076-3417/12/11/5588; https://doaj.org/toc/2076-3417 |
| DOI: | 10.3390/app12115588 |
| URL الوصول: | https://doaj.org/article/8270dba5248a4c7cace5b947137ad21b |
| رقم الأكسشن: | edsdoj.8270dba5248a4c7cace5b947137ad21b |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 20763417 |
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| DOI: | 10.3390/app12115588 |