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. Screwdrive locomotion similarly also evaluated on land, underwater, and on the water's surface. The transition between the water's surface and the air was validated as was the use of the flight propulsion for moving around in and under the water. A streaming camera unit as well as other sensors were integrated and validated for future applications in environmental monitoring.
|Original language||English (US)|
|Title of host publication||2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Jun 15 2021|
|Event||2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 - Athens, Greece|
Duration: Jun 15 2021 → Jun 18 2021
|Name||2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021|
|Conference||2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021|
|Period||6/15/21 → 6/18/21|
Bibliographical noteFunding Information:
VI. ACKNOWLEDGEMENTS This material is based upon work partially supported by the Corn Growers Association of MN, the Minnesota Robotics Institute (MnRI), Honeywell, and the National Science Foundation through grants #CNS-1432957, #CNS-1544887, #CNS-1531330, and #CNS-1939033. USDA/NIFA has also supported this work through grant 2020-67021-30755.
© 2021 IEEE.