Trans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation

The rapid evolution of the Unmanned Aerial Vehicle (UAV) industry has significantly increased interest in UAV design with trans-domain capabilities. It is still a major challenge to achieve miniaturization and enhance the maneuverability and underwater reliability of trans-domain UAVs. In this paper...

Descripción completa

Guardado en:
Detalles Bibliográficos
Autores principales: Yong Gao, Hao Zhang, Hua Yang, Shizhe Tan, T. Aaron Gulliver, Tingting Lu
Formato: article
Lenguaje:EN
Publicado: IEEE 2021
Materias:
Acceso en línea:https://doaj.org/article/1f1f7285ee7f40ef8778da0db5e7e88a
Etiquetas: Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
id oai:doaj.org-article:1f1f7285ee7f40ef8778da0db5e7e88a
record_format dspace
spelling oai:doaj.org-article:1f1f7285ee7f40ef8778da0db5e7e88a2021-11-18T00:03:39ZTrans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation2169-353610.1109/ACCESS.2021.3125138https://doaj.org/article/1f1f7285ee7f40ef8778da0db5e7e88a2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9599670/https://doaj.org/toc/2169-3536The rapid evolution of the Unmanned Aerial Vehicle (UAV) industry has significantly increased interest in UAV design with trans-domain capabilities. It is still a major challenge to achieve miniaturization and enhance the maneuverability and underwater reliability of trans-domain UAVs. In this paper, a novel bullet shape Trans-Domain Amphibious Vehicle (TDAV) is proposed which achieves free trans-domain motion and has the advantages of small size, high maneuverability and high reliability for both rotary-wing UAV and Autonomous Underwater Vehicle (AUV) operation. Compared with traditional amphibious machines, the TDAV design is streamlined and thus inherits the advantages of both the Bamboo Dragonfly and underwater AUVs. The proposed TDAV has a coaxial counter-propeller-tilting platform which satisfies the power and small diameter fuselage requirements, and the blades fold to reduce underwater drag and facilitate transportation. Further, a stable and efficient trans-domain attitude adjustment system is presented which effectively realizes trans-domain attitude switching. Based on the characteristics of the symmetric TDAV body, a rudder blade allocation algorithm is proposed to realize free movement in water. Finally, an improved particle swarm optimization algorithm is used to obtain suitable hierarchical fractional-order PID parameters. Both simulation and outdoor tests were performed and the results demonstrate that the proposed TDAV achieves outstanding performance in terms of lift altitude, trans-domain attitude switching time, and free trans-domain movement in both water and air.Yong GaoHao ZhangHua YangShizhe TanT. Aaron GulliverTingting LuIEEEarticleCoaxial counter-propellertrans-domain motionamphibious vehicleunmanned aerial vehiclecontrol strategiesElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 149433-149446 (2021)
institution DOAJ
collection DOAJ
language EN
topic Coaxial counter-propeller
trans-domain motion
amphibious vehicle
unmanned aerial vehicle
control strategies
Electrical engineering. Electronics. Nuclear engineering
TK1-9971
spellingShingle Coaxial counter-propeller
trans-domain motion
amphibious vehicle
unmanned aerial vehicle
control strategies
Electrical engineering. Electronics. Nuclear engineering
TK1-9971
Yong Gao
Hao Zhang
Hua Yang
Shizhe Tan
T. Aaron Gulliver
Tingting Lu
Trans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation
description The rapid evolution of the Unmanned Aerial Vehicle (UAV) industry has significantly increased interest in UAV design with trans-domain capabilities. It is still a major challenge to achieve miniaturization and enhance the maneuverability and underwater reliability of trans-domain UAVs. In this paper, a novel bullet shape Trans-Domain Amphibious Vehicle (TDAV) is proposed which achieves free trans-domain motion and has the advantages of small size, high maneuverability and high reliability for both rotary-wing UAV and Autonomous Underwater Vehicle (AUV) operation. Compared with traditional amphibious machines, the TDAV design is streamlined and thus inherits the advantages of both the Bamboo Dragonfly and underwater AUVs. The proposed TDAV has a coaxial counter-propeller-tilting platform which satisfies the power and small diameter fuselage requirements, and the blades fold to reduce underwater drag and facilitate transportation. Further, a stable and efficient trans-domain attitude adjustment system is presented which effectively realizes trans-domain attitude switching. Based on the characteristics of the symmetric TDAV body, a rudder blade allocation algorithm is proposed to realize free movement in water. Finally, an improved particle swarm optimization algorithm is used to obtain suitable hierarchical fractional-order PID parameters. Both simulation and outdoor tests were performed and the results demonstrate that the proposed TDAV achieves outstanding performance in terms of lift altitude, trans-domain attitude switching time, and free trans-domain movement in both water and air.
format article
author Yong Gao
Hao Zhang
Hua Yang
Shizhe Tan
T. Aaron Gulliver
Tingting Lu
author_facet Yong Gao
Hao Zhang
Hua Yang
Shizhe Tan
T. Aaron Gulliver
Tingting Lu
author_sort Yong Gao
title Trans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation
title_short Trans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation
title_full Trans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation
title_fullStr Trans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation
title_full_unstemmed Trans-Domain Amphibious Unmanned Platform Based on Coaxial Counter-Propellers: Design and Experimental Validation
title_sort trans-domain amphibious unmanned platform based on coaxial counter-propellers: design and experimental validation
publisher IEEE
publishDate 2021
url https://doaj.org/article/1f1f7285ee7f40ef8778da0db5e7e88a
work_keys_str_mv AT yonggao transdomainamphibiousunmannedplatformbasedoncoaxialcounterpropellersdesignandexperimentalvalidation
AT haozhang transdomainamphibiousunmannedplatformbasedoncoaxialcounterpropellersdesignandexperimentalvalidation
AT huayang transdomainamphibiousunmannedplatformbasedoncoaxialcounterpropellersdesignandexperimentalvalidation
AT shizhetan transdomainamphibiousunmannedplatformbasedoncoaxialcounterpropellersdesignandexperimentalvalidation
AT taarongulliver transdomainamphibiousunmannedplatformbasedoncoaxialcounterpropellersdesignandexperimentalvalidation
AT tingtinglu transdomainamphibiousunmannedplatformbasedoncoaxialcounterpropellersdesignandexperimentalvalidation
_version_ 1718425211219476480