Multi-directional aerial platforms can fly in almost any orientation and direction, often maneuvering in ways their underactuated counterparts cannot match. A subset of multi-directional platforms is fully-actuated multirotors, where all six degrees of freedom are independently controlled without redundancies. Fully-actuated multirotors possess much greater freedom of movement than conventional multirotor drones, allowing them to perform complex sensing and manipulation tasks. While there has been comprehensive research on multi-directional multirotor control systems, the spectrum of hardware designs remains fragmented. This letter sets out the hardware design architecture of a fully-actuated quadrotor and its associated control framework. Following the novel platform design, a prototype was built to validate the control scheme and characterize the flight performance. The resulting quadrotor was shown in operation to be capable of holding a stationary hover at 30° incline, and track position commands by thrust vectoring [Video attachment: https://youtu.be/8HOQl_77CVg].
TiltDrone:A Fully-Actuated Tilting Quadrotor Platform
2020-10-01
Zheng , P , Tan , X , Kocer , B B , Yang , E & Kovac , M 2020 , ' TiltDrone : A Fully-Actuated Tilting Quadrotor Platform ' , IEEE Robotics and Automation Letters , vol. 5 , no. 4 , 9144371 , pp. 6845-6852 . https://doi.org/10.1109/LRA.2020.3010460
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
BASE | 2018
|NTIS | 2008
|