Design, planning, and control of an origami-inspired foldable quadrotor

Dangli Yang; Shatadal Mishra; Daniel M. Aukes; Wenlong Zhang

doi:10.23919/acc.2019.8814351

Design, planning, and control of an origami-inspired foldable quadrotor

Dangli Yang, Shatadal Mishra, Daniel M. Aukes, Wenlong Zhang

Polytechnic Engineering Programs (EGR)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

23 Scopus citations

Abstract

In this paper, a novel foldable quadrotor (FQR) inspired by an origami mechanism is designed. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method. Simulation results are provided to demonstrate the advantage of this design over the conventional quad-rotor in obstacle avoidance during flight.

Original language	English (US)
Title of host publication	2019 American Control Conference, ACC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2551-2556
Number of pages	6
ISBN (Electronic)	9781538679265
DOIs	https://doi.org/10.23919/acc.2019.8814351
State	Published - Jul 2019
Event	2019 American Control Conference, ACC 2019 - Philadelphia, United States Duration: Jul 10 2019 → Jul 12 2019

Publication series

Name	Proceedings of the American Control Conference
Volume	2019-July
ISSN (Print)	0743-1619

Conference

Conference	2019 American Control Conference, ACC 2019
Country/Territory	United States
City	Philadelphia
Period	7/10/19 → 7/12/19

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/acc.2019.8814351

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Yang, D., Mishra, S., Aukes, D. M., & Zhang, W. (2019). Design, planning, and control of an origami-inspired foldable quadrotor. In 2019 American Control Conference, ACC 2019 (pp. 2551-2556). Article 8814351 (Proceedings of the American Control Conference; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/acc.2019.8814351

Design, planning, and control of an origami-inspired foldable quadrotor. / Yang, Dangli; Mishra, Shatadal; Aukes, Daniel M. et al.
2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2551-2556 8814351 (Proceedings of the American Control Conference; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yang, D, Mishra, S, Aukes, DM & Zhang, W 2019, Design, planning, and control of an origami-inspired foldable quadrotor. in 2019 American Control Conference, ACC 2019., 8814351, Proceedings of the American Control Conference, vol. 2019-July, Institute of Electrical and Electronics Engineers Inc., pp. 2551-2556, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 7/10/19. https://doi.org/10.23919/acc.2019.8814351

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abstract = "In this paper, a novel foldable quadrotor (FQR) inspired by an origami mechanism is designed. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method. Simulation results are provided to demonstrate the advantage of this design over the conventional quad-rotor in obstacle avoidance during flight.",

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AB - In this paper, a novel foldable quadrotor (FQR) inspired by an origami mechanism is designed. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method. Simulation results are provided to demonstrate the advantage of this design over the conventional quad-rotor in obstacle avoidance during flight.

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Design, planning, and control of an origami-inspired foldable quadrotor

Abstract

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