The wifly: Flapping-wing small unmanned aerial vehicle with center-of-gravity shift mechanism

Taichi Nozawa, Keita Nakamura, Ryosuke Katsuyama, Shunki Kuwajima, Ziyan Li, Akira Nomizu, Riku Okamoto, Toshitatsu Munakata, Takanobu Watanabe*

*この研究の対応する著者

研究成果: Article査読

1 被引用数 (Scopus)

抄録

This paper describes the development of a flappingwing 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 doublemotor drive system to independently control the flipping frequencies of the left and right wings.

本文言語English
ページ(範囲)205-215
ページ数11
ジャーナルJournal of Robotics and Mechatronics
33
2
DOI
出版ステータスPublished - 2021

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)
  • 電子工学および電気工学

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