Abstract: In indoor anti-terrorism combats,a single-mode unmanned aerial vehicle (UAV) cannot adapt to complex terrain and is easily destroyed.Aiming at this problem,a small UAV which can bounce on the ground-Scyther, is proposed.The composition,structure and main parameters are firstly given.Then,the main algorithms are explained,and the feasibility of the scheme is analyzed.A combination of coaxial twin-rotor and jumping UAV are used on Scyther.When approaching the target,the coaxial twin-rotor pops up from the main body and sticks to the high position.The camera mounted on it provides a monitoring field of view.The attitude of UAV is controlled through the momentum wheel,whose path is planned using improved ant colony algorithm.Using distributed context-aware algorithm,the UAV’s trajectory will be difficult to predict within the enemy’s visible range,thereby increasing the probability of getting close to the target.Compared with traditional UAVs,Scyther can adapt to a variety of complex terrains,can be controlled remotely, and has the advantages of small size,fast speed,low power consumption,and strong maneuverability.It is suitable for both single and cluster combats,thus is very beneficial for indoor anti-terrorism combats.In addition,Scyther can be equipped with a variety of warheads for different mission requirements,and is applicable for extensive scenarios.

Key words: jumping unmanned aerial vehicle (UAV), coaxial twin-rotor, strong maneuverability, momentum wheel, improved ant colony algorithm, image recognition

摘要： 在室内反恐作战中,单一运动方式的无人机无法适应复杂地形,易被击毁。针对这种问题,设计了一种可以在地面弹跳的小型无人飞行器——Scyther,给出了其组成、结构及设计参数,并详细阐述了主要的算法,分析了方案的实现途径。Scyther采用共轴双旋翼与跳跃无人机组合设计技术,在接近目标时共轴双旋翼从主体弹出并黏附于高处,其上搭载的摄像头提供监控视野。跳跃无人机通过动量轮控制自身姿态,基于改进蚁群算法进行自适应动态路径规划,并结合分布式情境感知算法使自身运动轨迹在敌方可视范围内难以预测,以此增大无人机靠近目标的概率。相比传统无人机,Scyther飞跳一体智能飞行器能够适应多种复杂地形,具有体积小、速度快、功耗小、机动性强、可远程操控等优点,既适用于单体作战,也可拓展为集群作战,对于室内反恐作战十分有利。此外,针对不同任务需求,Scyther还可装配多种战斗部,应用场景十分广泛。

关键词: 飞跳一体, 共轴双旋翼, 高机动, 动量轮, 改进蚁群算法, 图像识别