地-气-水混合动力自动驾驶汽车的机电一体化设计与控制

Dimitris Chaikalis, N. Evangeliou, Muhammed Nabeel, Nikolaos Giakoumidis, A. Tzes
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引用次数: 0

摘要

本文描述了一种能够在地面地形和水面上飞行和导航的混合自主车辆的开发。这是通过将典型的同轴三旋翼机与浮选装置相结合,再加上全能轮和水螺旋桨来实现的。提出了机电一体化设计方案,从硬件组成描述、监控体系结构和基于硬件在环仿真的重新设计入手。防水自动驾驶车辆使用一个自动驾驶直升机组件,另一个用于车辆/船舶。监控计算机根据需要的操作模式在这些自动驾驶仪之间切换,在设计控制努力时使用改变固件。仿真和实验研究表明了所开发系统的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Mechatronic Design and Control of a Hybrid Ground-Air-Water Autonomous Vehicle
This article describes the development of a hybrid autonomous vehicle capable of flying and navigating on ground terrain and water surface. This is achieved by combination of a typical coaxial tricopter with a flotation device, coupled with omniwheels and water propellers. The mechatronic design is presented, starting with the hardware component description, the supervisory control architecture and the redesign based on the hardware-in-the-loop simulation. The water-resistant autonomous vehicle uses one autopilot copter-component and another one for the vehicle/vessel. The supervising computer switches between these autopilots depending on the needed mode of operation using alterations in the firmware in designing the control effort. Simulation and experimental studies are offered to highlight the efficiency of the developed system.
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