An omni-directional multirotor vehicle. (November 2018)

• Record Type: Journal Article
• Authors: Brescianini, Dario; D'Andrea, Raffaello
• Is Part Of: Mechatronics. Volume 55(2018)
• Page Start: 76
• Page End: 93
• Publication Date: 2018-11
• Subjects: Aerial robotics -- Unmanned aerial vehicles -- Mechanics -- Design and control; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2018.08.005
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: In this paper we present the design, modelling and control of an omni-directional multirotor vehicle, i.e. a fully-actuated vehicle that can hover at any attitude and accelerate in any direction. Based on a static force and torque analysis for generic rotor configurations, an octorotor configuration is derived that maximizes the vehicle's agility while rendering its characteristics almost rotationally invariant. A prototype vehicle with the derived rotor configuration is built using reversible fixed-pitch rotors that can generate positive and negative thrust, enabling the vehicle to independently control its thrust and torque in all three dimensions. A control scheme that allows for simultaneously tracking a desired position and attitude trajectory is introduced. Experimental results demonstrate the feasibility of the vehicle design and control strategy.