UAV fully-actuated: model, control and comparison with coplanar configuration

被引：1

作者：

Gonzalez-Morgado, Antonio ^{[1
]}

Alvarez-Cia, Carlos ^{[1
]}

Heredia, Guillermo ^{[1
]}

Ollero, Anibal ^{[1
]}

机构：

[1] Univ Seville, Grp Robot Vis & Control, Camino Descubrimientos SN, Seville 41092, Spain

来源：

REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL | 2023年 / 20卷 / 04期

关键词：

UAVs; aerial robotics; robotics; modeling;

D O I：

10.4995/riai.2023.19348

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

With the development of aerial robotics, new multi-rotor platforms, known as fully-actuated, have appeared. These platforms have the ability to move without tilting the platform. This article presents a comparison in terms of motion capabilities between a coplanar hexarotor, standard configuration, and a tilted-propellers hexarotor, fully-actuated configuration. For this purpose, this paper presents the design, modelling and control of both configurations. Both platforms are compared with different trajectories through simulations and experiments. Also, unique capabilities of the fully-actuated platform, such as the ability to hover at a tilt angle, are shown. Finally, the use of the fully-actuated platform for visual inspection of bridge beams is included 1.

引用

页码：401 / 411

页数：11

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