Design and field test of a foldable wing unmanned aerial–underwater vehicle

Xiangren Sun; Jian Cao; Ye Li; Baoxu Wang

doi:10.1002/rob.22265

journal article Nov 14, 2023

Design and field test of a foldable wing unmanned aerial–underwater vehicle

Xiangren Sun

Jian Cao

Ye Li

Baoxu Wang

Journal of Field Robotics Vol. 41 No. 2 pp. 347-373 · Wiley

View at Publisher Save 10.1002/rob.22265

Abstract

AbstractThis paper presents the design and field test of a foldable wing unmanned aerial–underwater vehicle (UAUV). The vehicle can complete diving and air operations, and still have the ability of multiple trans‐medium water egress and ingress under the condition of carrying mission load during a single flight. The wings can be folded back for drag reduction in underwater sailing and water egress, and unfolded to provide lift for flight after water egress. This paper presents the major components and system design of the vehicle, including the overall structure of the vehicle, the design of the mechanism for self‐locking and quick‐folding, the design of the electrical system, the selection of the propulsion system, and analyzes the performance gains from foldable wings and foldable propellers. Then the trans‐medium field test was introduced, and the analysis and discussion were conducted for the four typical operating conditions of the vehicle, including water sailing, aerial flight, water egress and water ingress. Furthermore, the endurance performance under the corresponding operating conditions is estimated based on experimental data and the current battery energy carried. The presence of foldable wings and a large pitch angle water egress strategy reduces the thrust‐to‐weight ratio requirement for the vehicle. The results of the field tests can provide important experience and data support for the subsequent application‐oriented UAUVs.

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Metrics

23

Citations

33

References

Details

Published: Nov 14, 2023
Vol/Issue: 41(2)
Pages: 347-373
License: View

Authors

X

Xiangren Sun

College of Shipbuilding Engineering Harbin Engineering University Harbin China; Science and Technology on Underwater Vehicle Technology Laboratory Harbin Engineering University Harbin China

J

Jian Cao

College of Shipbuilding Engineering Harbin Engineering University Harbin China; Science and Technology on Underwater Vehicle Technology Laboratory Harbin Engineering University Harbin China; Sanya Nanhai Innovation and Development Base Harbin Engineering University Sanya China

Y

Ye Li

College of Shipbuilding Engineering Harbin Engineering University Harbin China; Science and Technology on Underwater Vehicle Technology Laboratory Harbin Engineering University Harbin China; Sanya Nanhai Innovation and Development Base Harbin Engineering University Sanya China

B

Baoxu Wang

College of Shipbuilding Engineering Harbin Engineering University Harbin China; Science and Technology on Underwater Vehicle Technology Laboratory Harbin Engineering University Harbin China

Cite This Article

Xiangren Sun, Jian Cao, Ye Li, et al. (2023). Design and field test of a foldable wing unmanned aerial–underwater vehicle. Journal of Field Robotics, 41(2), 347-373. https://doi.org/10.1002/rob.22265

Design and field test of a foldable wing unmanned aerial–underwater vehicle

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