Robust flight control systems for miniature lighter-than-air robots
Abstract
Miniature blimps lend themselves as viable platforms for a variety of applications ranging from beinga testbed for fundamental research on aerial robotics to seeking insights into the mechanics of collectivebehaviours. Using buoyancy as the primary source of aerodynamic force to overcome weightsignificantly diminishes the cost of flight for blimps and most of their onboard power can be dedicatedtowards payload operations. Despite the attractive features of miniature robotic blimps, a platform withfine control characteristics that performs robustly in quiescent as well as in gusty conditions remainselusive. Small blimps are posed with flight-control and operational challenges that differ markedlycompared to their heavier-than-air flying counterparts. Their low moment of inertia, high drag andlimited payload capacity requires a design approach that departs from the putative method ofminiaturization of large airships. In this project our main aims are two-fold on one hand we will seekto improve our knowledge of flight stability and control in this low-speed and low-inertia domain, andon the other hand we will implement novel planform design, actuation strategies and controlarchitectures to develop miniature lighter-than-air crafts with elevated performance. In the developmentefforts we will adopt a bio-inspired approach with a thematic philosophy of developing a swimmingin-air craft. This approach will motivate the design and evaluation of novel body shapes that confersboth passive stability and low drag similar to fish that also contend with nominally similar challengesduring aquatic locomotion. We propose to implement voice-coil based actuation to oscillate fins thatwill provide propulsion, directional control and operate at the time-scale of the crafts dominantdynamics. In the second stage low-level reflex control routines will be implemented to enable robustflight in both quiescent and unsteady wind conditions. Finally, the performance of swimming in aircrafts will be evaluated against a benchmark, an ellipsoidal propellers-driven gondola blimp, in solitaryand under swarming conditions.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 29, 2020
- Source ID
- N629092012029
Entities
People
- Sridhar Ravi
Organizations
- Office of Naval Research
- United States Navy
- University of New South Wales