Design, fabrication and initial results of a 2g autonomous glider

Utilizing the core technologies of emerging microrobotic structures, the rapid design and prototyping of a passive micro air vehicle with the final goal of locating an audio source while avoiding hazardous obstacles is presented. The airfoil and control surfaces are optimized empirically to maximize lift and maneuverability while minimizing drag. Bimorph piezoelectric bending cantilevers actuate the control surfaces. Since such actuators require high voltages, an efficient boost circuit is presented along with appropriate high voltage electronics. To locate audio sources, a pair of acoustic sensors is designed and prototyped using a phase detection algorithm while a custom optic flow sensor is developed to avoid obstacles and give estimates of object distances and velocities. Finally, each subsystem is demonstrated and the complete glider is integrated to demonstrate initial open loop control performance.