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].


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    Titel :

    TiltDrone:A Fully-Actuated Tilting Quadrotor Platform


    Beteiligte:
    Zheng, Peter (Autor:in) / Tan, Xinkai (Autor:in) / Kocer, Basaran Bahadir (Autor:in) / Yang, Erdeng (Autor:in) / Kovac, Mirko (Autor:in)

    Erscheinungsdatum :

    2020-10-01


    Anmerkungen:

    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



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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