文献笔记 - BogieCopter: A Multi-Modal Aerial-Ground Vehiclefor Long-Endurance Inspection Applications

2023 IEEE International Conference on Robotics and Automation (ICRA 2023) May 29 - June 2, 2023. London, UK

Teodoro Dias, Meysam Basiri

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本人非文章作者，文献的引用格式如下，原文更有价值

T. Dias and M. Basiri, "BogieCopter: A Multi-Modal Aerial-Ground Vehicle for Long-Endurance Inspection Applications," 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 3303-3309, doi: 10.1109/ICRA48891.2023.10161038.

keywords: {Energy consumption;Actuators;Automation;Surveillance;Wheels;Land surface;Inspection},

Abstract—

I. INTRODUCTION

To the best of our knowledge, this is the most complete review of research available for multimodal aerial-ground vehicles.

主要贡献：

提出新的陆空两栖设计，基于倾转多旋翼构型和被动轮，安全高效

做了目前最全的陆空两栖文献分析

实验验证两栖运动能力和能耗

II. STATE-OF-THE-ART

Passive actuated or Active actuated

A. Conventional Passive Actuated Designs

III. PROPOSED DESIGN: BOGIECOPTER

A. Design Procedure

IV. EXPERIMENTS AND RESULTS

Aerial Locomotion:

Flat Surface Locomotion:

Multi-modal Capability:

Inclined Surface Locomotion:

Wall-Climbing:

总结：

静心设计了一种倾转旋翼多旋翼构型的被动轮两栖无人机，具备平坦和陡峭的平面运动能力和飞行能力，同时取得了低的额外重量，高的地面运动能量效率和可观的负载能力而且具有更好的安全性，但是暂未设计完善的运动控制器。

极强的负载能力大约2kg，机身空载2kg，飞行时长十分钟，地面运动可达11.5km