仿飞鼠无人机通过可调折叠翼实现高机动飞行，适合狭小空间作业。
A highly maneuverable flying squirrel drone with controllable foldable wings
- 仿飞鼠设计，翼面可调折叠，拓展飞行姿态范围。
- 基于人类示范数据的强化学习控制翼面，提升复杂气动性能。
- 实验验证其在推力饱和时仍能产生额外阻力，增强飞行稳定性。
传统多旋翼无人机因推力方向固定，机动性较差，难以在极狭小空间内灵活飞行。本文提出一种新型仿生无人机，灵感来自飞鼠，具备可调控折叠翼，显著扩展飞行姿态范围，实现更灵活的飞行能力并保持稳定跟踪性能。无人机翼面采用硅胶膜材料，通过基于人类示范数据的强化学习算法进行精密控制，有效捕捉难以数学建模的复杂气动效应。实验表明，该无人机可通过主动诱导气动阻力，在机械推力饱和情况下仍产生所需排斥力，实现高效机动。本工作展示了仿生学与机器学习结合在实现类动物敏捷飞行方面的巨大潜力。
原文摘要 · Abstract (English)
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.
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