He Jiacheng, Zhang Yingjie, Feng Junjun, Li Shisheng, Yuan Yiheng, Wang Pinghui, Han Song
School of Innovation and Entrepreneurship, Southern University of Science and Technology, Shenzhen 518055, China.
Biomimetics (Basel). 2024 Sep 25;9(10):581. doi: 10.3390/biomimetics9100581.
Aerial-aquatic unmanned vehicles are a combination of unmanned aerial vehicles and unmanned submersibles, capable of conducting patrols in both the air and underwater domains. This article introduces a novel aerial-aquatic unmanned vehicle that integrates fixed-wing configuration and flapping-wing configuration. In order to improve the low efficiency of the classic diagonal motion trajectory, this paper proposed an improved diagonal motion trajectory based on joint optimization of the stroke angle and angle of attack curve. The proposed method has been verified through simulations and experiments. A prototype was developed and experiments were completed, both indoors and outdoors, wherein the system's transmedium transition capability and flapping propulsion performance were comprehensively validated. Additionally, utilizing flapping propulsion, an average underwater propulsion speed of 0.92 m/s was achieved.
空中-水下无人 vehicle 是无人机和无人潜水器的组合，能够在空中和水下领域进行巡逻。本文介绍了一种新型的集成固定翼配置和扑翼配置的空中-水下无人 vehicle。为了提高经典对角线运动轨迹的低效率，本文提出了一种基于冲程角和攻角曲线联合优化的改进对角线运动轨迹。所提出的方法已通过仿真和实验得到验证。开发了一个原型并在室内和室外完成了实验，其中系统的跨介质转换能力和扑翼推进性能得到了全面验证。此外，利用扑翼推进，实现了平均水下推进速度为0.92 m/s。
