The aim of this paper is to present the design of a novel omnidirectional Unmanned Aerial Vehicle (UAV) with seven unidirectional thrusters, called $O_ + ^7$. The paper formally defines the O+ design for a generic number of propellers and presents its necessary conditions; then it illustrates a method to optimize the placement and orientation of the platform’s propellers to achieve a balanced O+ design. The paper then details the choice of the parameters of the $O_ + ^7$ UAV, and highlights the required mechanical and electrical components. The resultant platform is tested in simulation, before being implemented as a prototype. The prototype is firstly static-bench tested to match its nominal and physical models, followed by hovering tests in multiple orientations. The presented prototype shows the ability to fly horizontally, upside down and at a tilted angle.


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    Titel :

    Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Unidirectional Thrusters


    Beteiligte:
    Hamandi, Mahmoud (Autor:in) / Sawant, Kapil (Autor:in) / Tognon, Marco (Autor:in) / Franchi, Antonio (Autor:in)


    Erscheinungsdatum :

    2020-09-01


    Format / Umfang :

    4911389 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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