AOSoar：微型飞行器的自主地形翱翔
AOSoar: Autonomous Orographic Soaring of a Micro Air Vehicle
AI总结：
提出一种基于INDI控制器和模拟退火优化的微型飞行器自主地形翱翔方法，无需风场先验知识即可实现长达30分钟的低能耗飞行，平均油门使用率仅0.25%。
摘要：
利用翱翔鸟类的悬停风技巧可以节省能量消耗并提高微型飞行器（MAVs）的飞行续航时间。在此，我们提出了一种无需风场先验知识的完全自主地形翱翔新方法。具体而言，我们设计了一种带有控制分配的增量非线性动态逆（INDI）控制器，并将其改造适用于自主翱翔。这使得翱翔和在必要时使用油门成为可能，且在飞行过程中无需更改任何增益或参数。此外，我们提出了一种基于模拟退火的优化方法来搜索翱翔位置。这首次使MAV能够在最小化油门使用和其他控制努力的同时，自主找到可行的翱翔位置。自主地形翱翔在风洞中进行了实验。在翱翔飞行过程中，改变了风速和斜坡的倾角。MAV能够进行自主地形翱翔，飞行时间长达30分钟。在整个翱翔飞行中，平均油门使用量仅为0.25%，而正常动力飞行需要38%。此外，实验还表明，当飞行过程中风场发生变化时，MAV能够找到新的翱翔地点。
英文摘要：
Utilizing wind hovering techniques of soaring birds can save energy expenditure and improve the flight endurance of micro air vehicles (MAVs). Here, we present a novel method for fully autonomous orographic soaring without a priori knowledge of the wind field. Specifically, we devise an Incremental Nonlinear Dynamic Inversion (INDI) controller with control allocation, adapting it for autonomous soaring. This allows for both soaring and the use of the throttle if necessary, without changing any gain or parameter during the flight. Furthermore, we propose a simulated-annealing-based optimization method to search for soaring positions. This enables for the first time an MAV to autonomously find a feasible soaring position while minimizing throttle usage and other control efforts. Autonomous orographic soaring was performed in the wind tunnel. The wind speed and incline of a ramp were changed during the soaring flight. The MAV was able to perform autonomous orographic soaring for flight times of up to 30 minutes. The mean throttle usage was only 0.25% for the entire soaring flight, whereas normal powered flight requires 38%. Also, it was shown that the MAV can find a new soaring spot when the wind field changes during the flight.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
