In this paper, we describe a novel configuration of an omnidirectional hexrotor UAV with tilted-rotors. Different from the under-actuated characteristic of ordinary multi-rotor UAVs, the special tilted-rotors make the vehicle fully-actuated, and it is suitable for inspection tasks. With Newton’s second law and Newton-Euler equations, the vehicle’s dynamics are modeled. Based on its dynamics, the proposed control algorithm of this vehicle is used to drive the vehicle’s decoupled flight actions. The fully self-programmed control system and a 3D model of the UAV are deployed to the “RotorS" simulator in ROS. Preliminary flight simulation experiments are conducted to evaluate the performance of the designed flight control system. Through experiments on tilted-rotors with three different tilt angles, the recorded errors of six DOFs are kept within a small range, and the UAV responds to commands quickly enough. The experimental results demonstrate that the control system enables the vehicle to complete simple flight tasks. At the end of this paper, some issues in the current work are also discussed.


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    Title :

    Modeling and Control of an Omnidirectional Hexrotor UAV with Tilted-Rotors


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Shen, Runjie (author) / Huang, Dingliang (author) / Zhan, Quanxi (author) / Shu, Yihang (author) / Bao, Kai (author) / Huang, Hao (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Publication date :

    2022-03-18


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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