Optimizing energy consumption of Micro Aerial Vehicles is one of several problems that remains to be solved in the domain of UAVs. In a recent work, a novel quadrotor was introduced that was able, when possible, to roll on the ground thanks to a tilting propeller and caster wheels. In the following work, we build upon this idea with a trirotor helicopter where all the rotors are independently tilting. This grants our model a greater maneuverability both in flight and on the ground. We validate in this paper the flatness-based control approach by showing the ability of our UAV to follow arbitrary trajectories on the ground.
Ground control of a hybrid tricopter
2015-06-01
599633 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
A Hybrid Tricopter/Flying-Wing VTOL UAV (AIAA 2014-0016)
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