Aizelman Ilan, Magazinnik Dan, Feldman Dan, Klein Itzik
The Hatter Department of Marine Technologies, University of Haifa, 199 Aba Khoushy Ave., 3103301, Mount Carmel, Israel.
Department of Computer Science, University of Haifa, 199 Aba Khoushy Ave., 3103301, Mount Carmel, Israel.
Sci Rep. 2024 Jul 6;14(1):15603. doi: 10.1038/s41598-024-66396-0.
Quadrotors have found widespread use in indoor applications, including tracking and mapping. In general, to carry out such tasks effectively, a navigation solution should provide both accuracy and battery efficiency. To achieve both, we propose a cost-effective and lightweight wheeled quadrotor that combines both driving and flying capabilities. Our design allows the quadrotor to perform both functions seamlessly. We provide a detailed description of the design and construction process, highlighting its advantages. Our focus was on the Tello quadrotor, which weighs 80 grams. Our design allowed driving capability with an increased weight of only fifteen grams, resulting in less than 20% of the added weight. Furthermore, we evaluate the quadrotor's pure inertial navigation performance and corresponding battery consumption by employing various flying and driving patterns. Our results show that when only driving the battery consumption was the lowest with 10% and some flying scenarios improve the positioning error by more than 70%.
四旋翼飞行器已在包括跟踪和测绘在内的室内应用中得到广泛使用。一般来说，为了有效地执行此类任务，导航解决方案应兼具准确性和电池效率。为了实现这两点，我们提出了一种经济高效且轻便的轮式四旋翼飞行器，它兼具驱动和飞行能力。我们的设计使四旋翼飞行器能够无缝执行这两种功能。我们详细描述了设计和建造过程，突出了其优点。我们的重点是重80克的Tello四旋翼飞行器。我们的设计在增加仅15克重量的情况下实现了驱动能力，增加的重量不到20%。此外，我们通过采用各种飞行和驱动模式来评估四旋翼飞行器的纯惯性导航性能和相应的电池消耗。我们的结果表明，仅驱动时电池消耗最低，为10%；并且一些飞行场景将定位误差改善了70%以上。
