Uav's perception capability and task efficiency are substantially affected by sensor field of view fov we present a single actuated UAV that can naturally extend the sensor fov through its inherent self-rotation motion we name this UAV Pulsar since its self-rotation and scanning pattern are.
Intuitively similar to that of an astronomical pulsar Pulsar equips a computer and a lidar sensor which enables the abilities of full onboard perception mapping planning and control without any external instrument both in indoor and outdoor environments Pulsar has a single actuator which is.
Used to drive the swash plateless mechanism providing both thrust and moment the moment is generated from cyclic changes in pitch angle of the blades induced by modulating the motor speed by adjusting the angular position where the motor accelerates and decelerates the direction of the moment is.
Controllable benefiting from using a single actuator pulsar's propulsion system has less energy conversion loss resulting in a high flight efficiency of 6.65 gram per watt with a diameter merely of 37.6 centimeters and a small battery of just 41 Watt hours this 1234 gram UAV.
Achieved a hover time of over 12 minutes if the lidar sensor is removed and a larger propeller and battery is installed the hover time of Pulsar is more than 40 minutes Pulsar can move in full 3d space for example it can track a tilted Figure 8 trajectory without the use of a motion capture.
System and prior map Pulsar still can utilize the onboard sensor information for indoor localization Pulsar is robust to external wind disturbance at a maximum wind speed of 4.5 meter per second Pulsar can maintain its hover position within a small area.
Foreign autonomous navigation is very challenging for a single actuated self-rotating UAV during the flight a 3D map of the unknown environment is built simultaneously.
Based on this map the trajectory planner automatically generates smooth trajectories to avoid obstacles without any human intervention or piloting at the end of the flight the built map had points uniformly distributed in all horizontal directions leading to a more efficient exploration of the environment.
Pulsar can also perform fully autonomous navigation at night showing that its navigation is not affected by light condition thank you depending on the self-rotation extended.
Fov Pulsar can detect Dynamic obstacles approaching from different directions and then perform an agile motion to avoid them such characteristic enables a safer flight in a wild environment with animals foreign