SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot
File(s)SailMAV__RAL_2019_preprint.pdf (3.49 MB)
Accepted version
Author(s)
Type
Journal Article
Abstract
Despite significant research progress on small-scale aerial-aquatic robots, most existing prototypes are still constrained by short operation times and limited performance in different fluids. The main challenge is to design a vehicle that satisfies the partially conflicting design requirements for aerial and aquatic operations. In this letter we present a new class of aerial-aquatic robot, the sailing micro air vehicle, 'SailMAV.' Thanks to a three-part folding wing design, the SailMAV is capable of both flying and sailing. The robot design permits long and targeted missions at the water interface by leveraging the wind as movement vector. It simultaneously offers the flexibility of flight for rapidly reaching a designated area, overcoming obstacles, and moving from one body of water to another, which can be very useful for water sampling in areas with many obstacles. With a total wingspan of 0.96 m, the SailMAV employs the same wing and actuation surfaces for sailing as for flying. It is capable of water surface locomotion as well as takeoff and flight at a cruising speed of 10.8 mcdots-1. The main contributions of this letter are new solutions to the challenges of combined aerial and aquatic locomotions, the design of a novel hybrid concept, the development of the required control laws, and the demonstration of the vehicle successfully sailing and taking off from the water. This letter can inform the design of hybrid vehicles that adapt their morphology to move effectively.
Date Issued
2019-07
Date Acceptance
2019-05-21
Citation
IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2894-2901
ISSN
2377-3766
Publisher
Institute of Electrical and Electronics Engineers
Start Page
2894
End Page
2901
Journal / Book Title
IEEE Robotics and Automation Letters
Volume
4
Issue
3
Copyright Statement
© 2019 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.
Sponsor
Engineering and Physical Sciences Research Council
Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (E
Commission of the European Communities
The Royal Society
Grant Number
EP/R009953/1
EP/R511547/1
EP/R026173/1
810321
RSWF/R1/180003
Subjects
Science & Technology
Technology
Robotics
Robotics and automation
autonomous systems
autonomous vehicles
unmanned autonomous vehicles, robotics and automation
robots
aquatic robots
0913 Mechanical Engineering
Publication Status
Published
Date Publish Online
2019-06-10