Abstract
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.
Highlights
T RANS-DOMAIN aircraft have been the subject of research since the 1920s [1]
Several prototypes have been developed such as Aquacopter [13], QuadH2o [14], Mariner [15], and HUAUV [16], [17]
In this paper, a novel amphibious Unmanned Aerial Vehicle (UAV) prototype was developed which overcomes the difficulties with trans-domain motion such as the suitable performance, water resistance, and effective control
Summary
T RANS-DOMAIN aircraft have been the subject of research since the 1920s [1]. Conventional Unmanned Aerial Vehicles (UAVs) are highly maneuverable, noncontact, and can operate for long periods of time. Several prototypes have been developed such as Aquacopter [13], QuadH2o [14], Mariner [15], and HUAUV [16], [17] These amphibious drones take off vertically from the water using the thrust of four rotor blades and can land smoothly on the water surface. A folding blade structure was adopted for stowage during transport and release is from the missile silo of the submarine It is buoyant so it can float on the water and takes off vertically from the water surface using coaxial counter-propellers. Different from rotorcraft UAVs, the TDAV flight system utilizes a coaxial counter-propellertilting platform structure with folding blades This reduces the flow resistance in water and facilitates stowage and transportation. The results of the outdoor experiments and discussion are presented in Section IV, and Section V provides some concluding remarks
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