Autonomous Perching on Cylindrical Objects for Wild Aerial Vehicle System

Drones are now used in various fields to perform tasks, but there are still many issues with their range and interaction with external objects. In the face of certain situations where drones do not need to hover for a long time, this article proposes a drone autonomous habitat system, which achieves the drone habitat function by designing a gripper, and meets the power performance of the drone with a certain load capacity based on the clamping claw design. A drone control scheme and habitat control strategy have been developed to complete the overall autonomous task. Finally, the autonomous function of the drone was verified through experiments. This article develops a cylindrical item habitat capability for the drone and enhances its maneuverability by designing a bistable habitat device and high-performance quadcopter drone performance and control algorithms.