论文标题
可重新配置的无人机系统，用于运输具有可变质量和尺寸的包裹
Reconfigurable Drone System for Transportation of Parcels With Variable Mass and Size
论文作者
论文摘要
货物无人机旨在携带具有预定义形状，尺寸和/或质量的有效载荷。缺乏灵活性需要针对特定货物尺寸量身定制的各种无人机。在这里，我们根据适应不同货物形状，尺寸和质量的模块化设计提出了可重构的无人机。我们还提出了一种自动生成无人机配置和适合飞行控制器参数的方法。包裹成为无人机的身体，将几个单独的推进模块附着在上面。我们通过运输需要各种数字和推进模块定位的不同质量和尺寸的包裹来证明使用可重构硬件和随附软件的使用。实验是在室内（带有运动捕获系统）和户外（带有RTK-GNSS传感器）进行的。所提出的设计代表了涉及多个用于包裹运输的无人机的解决方案的更便宜，更通用的替代品。
Cargo drones are designed to carry payloads with predefined shape, size, and/or mass. This lack of flexibility requires a fleet of diverse drones tailored to specific cargo dimensions. Here we propose a new reconfigurable drone based on a modular design that adapts to different cargo shapes, sizes, and mass. We also propose a method for the automatic generation of drone configurations and suitable parameters for the flight controller. The parcel becomes the drone's body to which several individual propulsion modules are attached. We demonstrate the use of the reconfigurable hardware and the accompanying software by transporting parcels of different mass and sizes requiring various numbers and propulsion modules' positioning. The experiments are conducted indoors (with a motion capture system) and outdoors (with an RTK-GNSS sensor). The proposed design represents a cheaper and more versatile alternative to the solutions involving several drones for parcel transportation.
