一种具有可控折叠翼的高机动性飞鼠无人机
A highly maneuverable flying squirrel drone with controllable foldable wings
AI总结：
针对多旋翼无人机机动性差的问题，提出一种基于飞鼠仿生的可控折叠翼无人机，通过人类演示数据强化学习控制硅胶膜机翼，实现复杂空气动力学捕捉与高机动性，机械推力饱和时仍能提供额外排斥力。
摘要：
典型的多旋翼无人机因单向推力通常机动性较差，不利于在极狭窄封闭空间内进行敏捷飞行。本文提出一种新型仿生无人机，以轻量化、便携的方式实现高机动性。该飞鼠启发的无人机配备可控折叠翼，可覆盖更广泛的飞行姿态，提供更具机动性的飞行能力并具备稳定跟踪性能。无人机机翼采用硅胶膜制造，通过基于人类演示数据的强化学习进行精细控制。特别地，这种基于学习的机翼控制可捕捉数学建模难以实现的复杂空气动力学特性。实验表明，该飞鼠无人机可主动产生气动阻力，即使在机械推力饱和时也能提供所需的额外排斥力。本研究对展示仿生学与机器学习在实现类动物敏捷无人机方面的潜力具有重要意义。
英文摘要：
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.
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。
