Collision resilient foldable micro aerial robot

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.