ICUAS 2021 Paper Abstract

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Paper FrD1.3

Canelon, Dario (University of Minnesota), Westlake, Samuel (University of Minnesota), Wang, Youbing (University of Minnesota), Papanikolopoulos, Nikos (University of Minnesota)

Design and Characterization of a Multi-Domain Unmanned Vehicle Operating in Aerial, Terrestrial, and Underwater Environments

Scheduled for presentation during the Regular Session "Manned/Unmanned Aviation and UAS Testbeds" (FrD1), Friday, June 18, 2021, 16:40−17:00, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords UAS Testbeds, Micro- and Mini- UAS, UAS Applications

Abstract

In this paper, we demonstrate and validate the flight characteristics of a multi-domain unmanned platform capable of locomotion in the air, water, and land domains. The OmnibotV2 uses four flight motors in a quad-copter configuration for flight, a dual screwdrive system for land and water locomotion, and optionally features a buoyancy control unit for water operations. Experiments were performed to measure how maximum battery voltage, temperature, and motors of different torque-speed characteristics affect the performance of the platform in flight. The screwdrive locomotion was also characterized on land, on the water surface, and under the water. Transition between the water’s surface and the air was validated as was the use of the flight propulsion for moving along the water surface. A streaming camera unit as well as other additions were integrated with a view towards eventual applications in environmental monitoring.

 

 

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