微型无人机栖息设计技术综述

doi:10.7527/S1000-6893.2022.27573

综述

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微型无人机栖息设计技术综述

张良阳, 李占科(), 韩海洋

西北工业大学航空学院，西安　710072

收稿日期:2022-06-04 修回日期:2022-06-27 接受日期:2022-07-29 出版日期:2022-08-03 发布日期:2022-08-03
通讯作者: 李占科 E-mail:lzk@nwpu.edu.cn
基金资助:
陕西省重点研发计划(2021ZDLGY09-06)

A review of perching technology of micro⁃UAV

Liangyang ZHANG, Zhanke LI(), Haiyang HAN

School of Aeronautics，Northwestern Polytechnical University，Xi’an　710072，China

Received:2022-06-04 Revised:2022-06-27 Accepted:2022-07-29 Online:2022-08-03 Published:2022-08-03
Contact: Zhanke LI E-mail:lzk@nwpu.edu.cn
Supported by:
Key Research and Development Projects of Shaanxi Province(2021ZDLGY09-06)

摘要/Abstract

摘要：

微型无人机栖息设计研究对提升微型无人机续航、增强微型无人机环境适应性和提高微型无人机长时间侦察监视能力具有重要的意义。随着人们对微型无人机续航性能和复杂环境的适应性要求越来越高，科研工作者对微型无人机的栖息设计技术进行了深入研究，并取得了显著成果。主要梳理了微型无人机的栖息原理、栖息机构、栖息方法，分析了栖息机构的特点与发展趋势。同时介绍了变体无人机在栖息领域的研究，并阐述了无人机栖息与抓取和爬壁之间的联系。此外将无人机分为多旋翼和固定翼2大类来进行栖息方法的研究分析，内容主要包括无人机的栖息位置选择、基于时间接触理论的仿生轨迹设计、视觉栖息导航、无人机的气动分析和动力学建模以及相应的栖落机动控制等。通过对无人机栖息设计技术的研究归纳分析，可为后续从事该方面的研究人员提供参考和借鉴。

关键词: 微型无人机, 栖息原理, 栖息机构, 栖息方法, 变体无人机, 抓取, 爬壁

Abstract:

Research on the perching design of micro-UAV plays an important role in improving the endurance performance of micro-UAV，enhancing the environmental adaptability of micro-UAV and improving the long-term detection and monitoring capability of micro-UAV. With the increasing requirements for the endurance performance of micro-UAV and the adaptability of complex environment，researchers all over the world begin to study the perching technology of micro-UAV，and have made remarkable achievements in the research on micro-UAV’s principle of perching，mechanism design，method of perching，etc. This article summarizes the principle of perching，mechanism of perching and method of perching of micro-UAV in the literature in recent years，and analyzes the characteristics and development trend of the mechanism of perching. At the same time， the research on morphing UAV in the field of perching is discussed，and the relationship between UAV wall climbing and grasping and UAV perching is also expounded. In addition， UAV is divided into two categories of multi-rotor and fixed-wing for the research and analysis of perching methods， including UAV perching position selection， bionic trajectory design based on time contact theory， visual perching navigation， aerodynamic analysis and dynamic modeling of UAV and corresponding perching maneuver control. Through the research and inductive analysis of UAV perching design technology， it can provide reference for subsequent researchers engaged in this field.

Key words: micro-UAV, principle of perching, mechanism of perching, method of perching, morphing UAV, grasping, wall climbing

中图分类号:

V279⁺.2

张良阳, 李占科, 韩海洋. 微型无人机栖息设计技术综述[J]. 航空学报, 2023, 44(12): 27573-027573.

Liangyang ZHANG, Zhanke LI, Haiyang HAN. A review of perching technology of micro⁃UAV[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(12): 27573-027573.

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微型无人机栖息设计技术综述

A review of perching technology of micro⁃UAV

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