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Asymmetric Whisker-Inspired Sensor Pairs for Enhanced Airflow Sensing on Drones
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DOI：10.1002/aisy.70459.png)
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Abstract
En 中文
One way to narrow the performance gap between flying animals and quadrotors is to improve how robots sense airflow. In this work, we enhance the on-drone flow sensing capabilities of whisker-inspired sensors by combining two bio-inspired design choices. First, we design directional asymmetry into our sensors through asymmetric cross-sections so that the sensor's response depends on flow heading. Second, we pair two asymmetric whiskers with an angular offset, aligning one sensor's maximum sensitivity with the other's minimum. For a pair of sensors with triangular cross-sections, the optimal angular offset is 60 ° $60 \circ$ , resulting in a 15 % $15 %$ improvement in estimating the flow heading compared to a pair of symmetric sensors. In tests with another asymmetric shape, the cross whisker, we found that within 193 ms of data collection, a pair of cross whiskers outperformed a symmetric pair collecting data for a full second. Finally, we show that two offset triangular whiskers on an 80 g quadrotor provide enough information in real time to identify the presence of wind while the drone is in motion. These results demonstrate that adding mechanical intelligence through asymmetry to whisker-inspired flow sensors can provide valuable capabilities for aerial navigation in windy conditions.
Keywords:
aerial sensing
airflow sensing
bio-inspired
drone control
whiskers
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