Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle

被引：0
|
作者：
Hamandi, Mahmoud [1 ]
Sable, Quentin [2 ]
Tognon, Marco [3 ]
Franchi, Antonio [1 ,2 ]
机构：
[1] Univ Toulouse, CNRS, LAAS, Toulouse, France
[2] Univ Twente, Fac Elect Engn Math & Comp Sci, Robot & Mechatron Lab, Enschede, Netherlands
[3] Swiss Fed Inst Technol, Dept Mech & Proc Engn, Autonomous Syst Lab, CH-8092 Zurich, Switzerland
来源：
1ST AIRPHARO WORKSHOP ON AERIAL ROBOTIC SYSTEMS PHYSICALLY INTERACTING WITH THE ENVIRONMENT (AIRPHARO 2021) | 2021年
基金：
欧盟地平线“2020”;
关键词：
D O I：
10.1109/AIRPHARO52252.2021.9571051
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The aim of this work is to present the necessary conditions for the design of an omnidirectional Multi-Rotor Aerial Vehicle (MRAV), while taking into consideration its geometry, weight, and actuation limits. The work formally defines these conditions and presents numerical metrics that reflect the satisfaction of the omnidirectional property. These metrics are then applied to assess the omnidirectional property of "Omni-plus-seven", i.e., an omnidirectional MRAV consisting of a hepta-rotor with uni-directional thrusters [1]. Finally the work shows the use of such metrics in the design of a new platform with similar geometry and modified weight and actuators.
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页数：6
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