用于通过狭窄通道运输多几何形状 payload 的视觉引导变形四旋翼飞行器

中文摘要 AI 辅助

使用多旋翼无人机进行空中 payload 运输极具挑战性，因为在拾取和运输过程中，payload 的几何形状、接触相互作用、抓取稳定性、飞行控制以及狭窄通道穿越之间存在强耦合。针对特定物体的抓取器通常无法在 payload 形状或通道宽度变化时调整其 footprint（ footprint 指占地面积）或抓取几何形状。本文提出一种用于通过狭窄通道运输多几何形状 payload 的视觉引导变形四旋翼飞行器。所提出的平台采用四个混合臂-腿结构，兼具着陆支撑和抓取构件的功能。一个居中放置的致动器驱动基于肌腱的变形机构，使所有四个臂能够同步收缩或扩展，以实现物体抓取、占地面积减小以及运输后释放。机载视觉系统估算 payload 的几何形状和通道宽度，同时使用端点力反馈确认 payload 接合期间的抓取接触。在 MuJoCo 仿真环境中实现了分阶段任务规划器、基于 PID 的飞行稳定器以及形态自适应抓取控制器。该框架使用箱形、圆柱形和球形 payload 进行评估，分别代表平面接触、滚动曲面接触和全曲面接触条件。在这三种情况下，仿真系统完成拾取-运输-释放序列的最大 RMS 位置误差为 0.31 m，最终降落区误差低于 0.18 m，紧凑抓取占地面积为 0.09-0.21 m²，占地面积减少幅度为 75.0-89.7%。结果表明，单致动器变形四旋翼飞行器可调整其抓取占地面积，以运输不同几何形状的 payload，同时减小整体占地面积以穿越狭窄通道。

英文摘要

Aerial payload transport using multirotor unmanned aerial vehicles is challenging because payload geometry, contact interaction, grasp stability, flight control, and narrow-passage traversal are strongly coupled during pickup and transport. Object-specific grippers often cannot adapt their footprint or grasp geometry when the payload shape or passage width changes. This paper presents a vision-guided morphing quadcopter for multi-geometry payload transport through narrow passages. The proposed platform uses four hybrid arm-leg structures that function as both landing supports and grasping members. A centrally placed actuator drives a tendon-based morphing mechanism, enabling all four arms to synchronously retract or expand for object grasping, footprint reduction, and post-transport release. Onboard vision estimates the payload geometry and passage width, while endpoint force feedback is used to confirm grasp contact during payload engagement. A phase-wise mission planner, PID-based flight stabilization, and morphology-adaptive grasp controller are implemented in a MuJoCo simulation environment. The framework is evaluated using box, cylindrical, and spherical payloads, representing flat-faced, rolling-curved, and fully curved contact conditions. Across the three cases, the simulated system completes the pickup-transport-release sequence with a maximum RMS position error of 0.31 m, a final drop-zone error below 0.18 m, a compact grasp footprint of 0.09-0.21 m2, and a footprint reduction of 75.0-89.7 percent. The results demonstrate that a single-actuator morphing quadcopter can adapt its grasp footprint for the transport of payloads with different geometries while reducing its overall footprint for narrow-passage traversal.

发表机构

• Indian Institute of Technology Hyderabad（印度理工学院海得拉巴分校）

机构由 AI 辅助整理，请以论文原文为准。