Exploring Ground Effect in a Hybrid Aerial-Aquatic Unmanned Vehicle

被引：1

作者：

Aoki, Vivian Misaki ^{[1
]}

Dias de Oliveira Evald, Paulo Jefferson ^{[1
]}

Pinheiro, Pedro Miranda ^{[1
]}

da Silva, Cesar Bastos ^{[2
]}

Cardoso, Dayana dos Santos ^{[1
]}

Barbosa Cunha, Mauro Andre ^{[3
]}

Jorge Drews, Paulo Lilles, Jr. ^{[1
]}

机构：

[1] Fed Univ Rio Grande, Intelligent Robot & Automat Grp, Rio Grande, Brazil

[2] Univ Estadual Campinas, Campinas, Brazil

[3] Sul Rio Grandense Fed Inst, Automat & Control Res Grp, Pelotas, RS, Brazil

来源：

2022 LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS), 2022 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR), AND 2022 WORKSHOP ON ROBOTICS IN EDUCATION (WRE) | 2022年

关键词：

Hybrid aerial-aquatic vehicles; Autonomous unmanned vehicles; Ground effect;

D O I：

10.1109/LARS/SBR/WRE56824.2022.9995867

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the investigation of the ground effect on hybrid aerial-aquatic vehicles. The ground effect is the formation of an air bag, caused by the thrusters during the landing and taking off of a propeller-based vehicle. Aerial vehicles are influenced by the ground effect, which is a large factor of variation in the turbulence and air flow that can significantly interfere with the movements of the vehicle. Therefore, the inclusion of ground effect dynamics in the vehicle model is relevant for a better comprehension of the transition zone between both environments: air and water. Simulation results show that thrust force is highly influenced by ground effect when a vehicle is coming out of the water, impacting on the controller's performance.

引用

页码：37 / 42

页数：6

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