TiltDrone: A Fully-Actuated Tilting Quadrotor Platform

被引:76
作者
Zheng, Peter [1 ,2 ,3 ]
Tan, Xinkai [1 ]
Kocer, Basaran Bahadir [1 ]
Yang, Erdeng [1 ]
Kovac, Mirko [1 ,4 ]
机构
[1] Imperial Coll London, Aerial Robot Lab, London SW7 2AZ, England
[2] Sci & Solut Changing Planet DTP, London, England
[3] Grantham Inst Climate Change & Environm, London, England
[4] Swiss Fed Labs Mat Sci & Technol, Mat & Technol Ctr Robot, CH-8600 Dubendorf, Switzerland
来源
IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 04期
基金
英国工程与自然科学研究理事会; 英国自然环境研究理事会; 欧盟地平线“2020”;
关键词
Aerial systems; mechanics and control; mechanism design; aerial systems; applications; AERIAL; DESIGN;
D O I
10.1109/LRA.2020.3010460
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Multi-directional aerial platforms can fly in almost any orientation and direction, often maneuvering in ways their underactuated counterparts cannot match. A subset of multi-directional platforms is fully-actuated multirotors, where all six degrees of freedom are independently controlled without redundancies. Fully-actuated multirotors possess much greater freedom of movement than conventional multirotor drones, allowing them to perform complex sensing and manipulation tasks. While there has been comprehensive research on multi-directional multirotor control systems, the spectrum of hardware designs remains fragmented. This letter sets out the hardware design architecture of a fully-actuated quadrotor and its associated control framework. Following the novel platform design, a prototype was built to validate the control scheme and characterize the flight performance. The resulting quadrotor was shown in operation to be capable of holding a stationary hover at 30 degrees incline, and track position commands by thrust vectoring [Video attachment: https://youtu.be/8HOQl_77CVg].
引用
收藏
页码:6845 / 6852
页数:8
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