The WiFly: Flapping-Wing Small Unmanned Aerial Vehicle with Center-of-Gravity Shift Mechanism
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- Nozawa Taichi
- Faculty of Science and Engineering, Waseda Univesity
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- Nakamura Keita
- Faculty of Science and Engineering, Waseda Univesity
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- Katsuyama Ryosuke
- Faculty of Science and Engineering, Waseda Univesity
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- Kuwajima Shunki
- Faculty of Science and Engineering, Waseda Univesity
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- Li Ziyan
- Faculty of Science and Engineering, Waseda Univesity
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- Nomizu Akira
- Faculty of Science and Engineering, Waseda Univesity
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- Okamoto Riku
- Faculty of Science and Engineering, Waseda Univesity
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- Munakata Toshitatsu
- Micro Aircraft Research Institute
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- Watanabe Takanobu
- Faculty of Science and Engineering, Waseda Univesity
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<p>This paper describes the development of a flapping-wing unmanned aerial vehicle (UAV) named WiFly, which is equipped with a center-of-gravity (COG) shift mechanism. This mechanism allows seamless changes in the flight attitude between hovering and level flight by controlling the pitch angle. We implemented two types of feedback control systems in WiFly: PID control and reinforcement learning (shallow Q-learning) to stabilize the flight attitude. The controllability of WiFly is drastically improved by employing a double-motor drive system to independently control the flipping frequencies of the left and right wings.</p>
収録刊行物
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 33 (2), 205-215, 2021-04-20
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詳細情報 詳細情報について
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- CRID
- 1390569225889978368
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- NII論文ID
- 130008027672
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- NII書誌ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL書誌ID
- 031402054
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可