Abstract:As a kind of fully actuated system, omnidirectional multirotor aerial vehicles (OMAVs) has more flexible maneuverability than traditional underactuated multirotor aircraft, and it also has more significant advantages in obstacle avoidance flight in complex environments. However, there is almost no way to generate the full degrees of freedom trajectory that can play the OMAVs' potential. Due to the high dimensionality of configuration space, it is challenging to make the designed trajectory generation algorithm… Show more
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