Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar structures using the ceiling effect. Compared with the existing work, this perching method does not require any claws, hooks, or adhesive pads, leading to a simpler system design. This method does not limit the perching by surface angle or material either. The design of the quadrotor that only uses its propeller guards for surface contact is presented in this paper. We also discussed the automatic perching strategy including trajectory generation and power management. Experiments are conducted to verify that the approach is practical and the UAV can perch on planes with different angles. Energy consumption in the perching state is assessed, showing that more than 30% of power can be saved. Meanwhile, the quadrotor exhibits improved stability while perching compared to when it is hovering.

翻译：栖停是小型无人机节省能量、延长作业时间的一种有前景的解决方案。本文提出了一种能够利用天花板效应在平面结构上栖停的四旋翼无人机。与现有工作相比，该栖停方法不需要任何爪子、钩子或粘性垫，从而简化了系统设计。该方法也不受表面角度或材料的限制。本文介绍了仅使用螺旋桨护罩进行表面接触的四旋翼无人机设计。我们还讨论了包含轨迹生成和功率管理的自动栖停策略。实验验证了该方法的实用性，无人机能够在不同角度的平面上栖停。对栖停状态下的能量消耗进行了评估，表明可节省超过30%的功率。同时，与悬停状态相比，四旋翼无人机在栖停时表现出更好的稳定性。