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- Publisher Website: 10.1109/LRA.2020.2974718
- Scopus: eid_2-s2.0-85081669485
- WOS: WOS:000526704900011
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Article: Gemini: A Compact Yet Efficient Bi-Copter UAV for Indoor Applications
Title | Gemini: A Compact Yet Efficient Bi-Copter UAV for Indoor Applications |
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Authors | |
Keywords | Aerial systems: mechanics and control field robots indoor UAV bi-copter |
Issue Date | 2020 |
Publisher | Institute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE |
Citation | IEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 3213-3220 How to Cite? |
Abstract | Quad-copters are the premier platform for data collection tasks, yet their ability to collect data in indoor narrow spaces is severely compromised due to their huge size when carrying heavy sensors. In this letter, we study a bi-copter UAV configuration that has similar levels of versatility and improves the compactness or efficiency at the same time. Such an arrangement allows for the preservation of propeller size, meaning that we can effectively reduce the horizontal width of the UAV while still maintains the same payload capacity. Furthermore, pitch, roll and yaw control can also be achieved through mechanically simple means as well, increasing reliability and precision. We also found that the Gemini platform is the most power-efficient yet practical solution for indoor applications among all the twelve common UAV configurations. This letter will detail the entire process of creating the platform from picking the ideal propeller through aerodynamic analysis, system design, optimization, implementation, control, and real flight tests that demonstrate its ability to function seamlessly. |
Persistent Identifier | http://hdl.handle.net/10722/287674 |
ISSN | 2023 Impact Factor: 4.6 2023 SCImago Journal Rankings: 2.119 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | QIN, Y | - |
dc.contributor.author | XU, W | - |
dc.contributor.author | Lee, A | - |
dc.contributor.author | Zhang, F | - |
dc.date.accessioned | 2020-10-05T12:01:34Z | - |
dc.date.available | 2020-10-05T12:01:34Z | - |
dc.date.issued | 2020 | - |
dc.identifier.citation | IEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 3213-3220 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10722/287674 | - |
dc.description.abstract | Quad-copters are the premier platform for data collection tasks, yet their ability to collect data in indoor narrow spaces is severely compromised due to their huge size when carrying heavy sensors. In this letter, we study a bi-copter UAV configuration that has similar levels of versatility and improves the compactness or efficiency at the same time. Such an arrangement allows for the preservation of propeller size, meaning that we can effectively reduce the horizontal width of the UAV while still maintains the same payload capacity. Furthermore, pitch, roll and yaw control can also be achieved through mechanically simple means as well, increasing reliability and precision. We also found that the Gemini platform is the most power-efficient yet practical solution for indoor applications among all the twelve common UAV configurations. This letter will detail the entire process of creating the platform from picking the ideal propeller through aerodynamic analysis, system design, optimization, implementation, control, and real flight tests that demonstrate its ability to function seamlessly. | - |
dc.language | eng | - |
dc.publisher | Institute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE | - |
dc.relation.ispartof | IEEE Robotics and Automation Letters | - |
dc.rights | IEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers. | - |
dc.rights | ©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.subject | Aerial systems: mechanics and control | - |
dc.subject | field robots | - |
dc.subject | indoor UAV | - |
dc.subject | bi-copter | - |
dc.title | Gemini: A Compact Yet Efficient Bi-Copter UAV for Indoor Applications | - |
dc.type | Article | - |
dc.identifier.email | Zhang, F: fuzhang@hku.hk | - |
dc.identifier.authority | Zhang, F=rp02460 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/LRA.2020.2974718 | - |
dc.identifier.scopus | eid_2-s2.0-85081669485 | - |
dc.identifier.hkuros | 314690 | - |
dc.identifier.volume | 5 | - |
dc.identifier.issue | 2 | - |
dc.identifier.spage | 3213 | - |
dc.identifier.epage | 3220 | - |
dc.identifier.isi | WOS:000526704900011 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 2377-3766 | - |