Collision resilient foldable micro aerial robot
Author
Dilaveroğlu, Levent
Advisor
Özcan, Onur
Date
2019-10Publisher
Bilkent University
Language
English
Type
ThesisItem Usage Stats
135
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32
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Abstract
Collision management strategies are integral part of micro air vehicles for the
reliability of their operation. Collision avoidance strategies require enhanced environmental
and situational awareness for generating evasive maneuver trajectories.
Simpler and more adaptable option is to prepare for collisions and design the
physical frame around predicted collision patterns. In this work, a mechanically
compliant frame design collaborating origami-inspired foldable robotics methods
with protective shock absorbing or guiding elements has been proposed for a
collision resilient quad-rotor UAV. General workings and mathematical model of
quadrotor has been explained to inform the reader further about the quadrotor
mechanics. 2D design of the foldable structure and the manufacturing process,
including electronic hardware elements and software has been discussed. Control
scheme, communication and operation is explained in detail to be an informative
guideline for the future air vehicle projects of the Bilkent Miniature Robotics
Lab.