期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
DOI：10.5772/58898
语种：English
出版社：SAGE Publications
摘要：This paper offers a bio-inspired trajectory generation method for UAV/MAV perching (i.e., the final approach to, and landing on, a target). The method is based on tau theory, which was established based on the study of the natural motion patterns of animals (including humans) when they approach a fixed or moving object for perching or capturing prey. In our research, tau theory is applied to the trajectory generation problem of an air vehicle for perching on a target object. Three bio-inspired strategies, namely the tau in the action gap strategy, the tau coupling strategy and the intrinsic tau gravity strategy are studied for perching tasks. A key parameter of the method inspired by biological systems is discussed. Two perching scenarios, one from a flight state (with non-zero initial velocity) and one from a hovering state (with zero initial velocity), are studied. Numerical simulations with a rotary vehicle are presented as examples to demonstrate the performance of the proposed approach. The simulation results show that the resulting flight trajectories meet all the desired requirements for the vehicle in perching on an object.
关键词：Trajectory generation; path planning; bio-inspired; perching; tau theory
