Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.
Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
Springer Proceedings in Advanced Robotics
International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018
Proceedings of the 2018 International Symposium on Experimental Robotics ; Kapitel : 8 ; 85-95
2020-01-23
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
British Library Conference Proceedings | 1996
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