Design, modeling and control of an omni-directional aerial vehicle
Dario Brescianini, Raffaello D'Andrea
Abstract
In this paper we present the design and control of a novel six degrees-of-freedom aerial vehicle. Based on a static force and torque analysis for generic actuator configurations, we derive an eight-rotor configuration that maximizes the vehicle's agility in any direction. The proposed vehicle design possesses full force and torque authority in all three dimensions. A control strategy that allows for exploiting the vehicle's decoupled translational and rotational dynamics is introduced. A prototype of the proposed vehicle design is built using reversible motor-propeller actuators and capable of flying at any orientation. Preliminary experimental results demonstrate the feasibility of the novel design and the capabilities of the vehicle.
BibTeX
@inproceedings{icra2016_designmodelingan,
title = {Design, modeling and control of an omni-directional aerial vehicle},
author = {Dario Brescianini and Raffaello D'Andrea},
booktitle = {ICRA 2016},
year = {2016}
}