一种用于视野扩展和自主飞行的自旋转三旋翼无人机
A Self-Rotating Tri-Rotor UAV for Field of View Expansion and Autonomous Flight
AI总结：
本文提出SPINNER无人机，通过持续旋转扩大摄像头和激光雷达的视野，提升环境感知效率，并实现三维定位和姿态控制。
摘要：
无人驾驶飞行器（UAVs）的感知依赖于机载传感器如摄像头和LiDAR，但其视野狭窄限制了应用。本文提出Self-Perception INertial Navigation Enabled Rotorcraft（SPINNER），一种自旋转三旋翼无人机，用于视野扩展和自主飞行。无需额外传感器或能耗，SPINNER通过持续旋转运动显著扩大机载摄像头和LiDAR传感器的视野，从而提高环境感知效率。SPINNER仅使用三个无刷电机实现完整的三维位置和俯仰-偏航姿态控制，同时通过反扭矩板设计调节旋转速度。为解决旋转飞行带来的强耦合、严重非线性和复杂扰动问题，我们开发了结合非线性模型预测控制（MPC）与递增非线性动态反推的扰动补偿控制框架。实验结果表明，SPINNER在4.8 m/s风扰下仍能保持稳健飞行，并在最大2.0 m/s速度下实现高精度轨迹跟踪。此外，在停车场和森林中的测试显示，旋转感知机制显著提高了视野覆盖范围，并增强了SPINNER的感知能力。
英文摘要：
Unmanned Aerial Vehicles (UAVs) perception relies on onboard sensors like cameras and LiDAR, which are limited by the narrow field of view (FoV). We present Self-Perception INertial Navigation Enabled Rotorcraft (SPINNER), a self-rotating tri-rotor UAV for the FoV expansion and autonomous flight. Without adding extra sensors or energy consumption, SPINNER significantly expands the FoV of onboard camera and LiDAR sensors through continuous spin motion, thereby enhancing environmental perception efficiency. SPINNER achieves full 3-dimensional position and roll--pitch attitude control using only three brushless motors, while adjusting the rotation speed via anti-torque plates design. To address the strong coupling, severe nonlinearity, and complex disturbances induced by spinning flight, we develop a disturbance compensation control framework that combines nonlinear model predictive control (MPC) with incremental nonlinear dynamic inversion. Experimental results demonstrate that SPINNER maintains robust flight under wind disturbances up to 4.8 \,m/s and achieves high-precision trajectory tracking at a maximum speed of 2.0\,m/s. Moreover, tests in parking garages and forests show that the rotational perception mechanism substantially improves FoV coverage and enhances perception capability of SPINNER.
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。
