Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle - LAAS-Robotique Accéder directement au contenu
Communication Dans Un Congrès Année : 2021

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

Résumé

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.
Fichier principal
Vignette du fichier
main.pdf (2.5 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03402718 , version 1 (26-10-2021)

Identifiants

Citer

Mahmoud Hamandi, Quentin Sable, Marco Tognon, Antonio Franchi. Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle. IEEE Workshop on Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571051⟩. ⟨hal-03402718⟩
63 Consultations
184 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More