Design, modeling and control of omni-directional aerial robot

Park, Sangyul; Her, Jongbeom; Kim, Juhyeok; Lee, Dongjun

doi:10.1109/iros.2016.7759254

Cited by 92 publications

(79 citation statements)

References 17 publications

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“…These works can be generally categorized as fixedly tilted rotor platforms, and tilt-arm rotor unit platforms. By its design, a platform with fixedly tilted rotors that is able to generate a significant wrench on the environment creates a proportionately significant amount of internal force, which directly detracts from flight efficiency [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Bodie

Taylor

Kamel

et al. 2020

Springer Proceedings in Advanced Robotics

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Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.

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Section: Introductionmentioning

confidence: 99%

Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Bodie

Taylor

Kamel

et al. 2020

Springer Proceedings in Advanced Robotics

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“…This solution has been applied in several real implementation and is becoming more and more popular in the aerial vehicles and robotics community. For example, results achieved in [9] show an improvement in resisting an opposing wrench, while the work done in [10]- [12] shows that such solution allows to decouple the tracking of a desired position and orientation.…”

Section: Introductionmentioning

confidence: 99%

Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force

Franchi¹,

Carli²,

Bicego³

et al. 2018

IEEE Trans. Robot.

101

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In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral directions a (smaller and possibly null) force may be exploited to achieve fullpose tracking. This class approximates well platforms endowed with non-coplanar/non-collinear rotors that can use the tilted propellers to slightly change the orientation of the total thrust w.r.t. the body frame. For this broad class of systems, we introduce a new geometric control strategy in SE(3) to achieve, whenever made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The exponential tracking of a feasible full-pose reference trajectory is proven using a Lyapunov technique in SE(3). The method can deal seamlessly with both under-and fully-actuated LBF platforms. The controller guarantees the tracking of at least the positional part in the case that an unfeasible full-pose reference trajectory is provided. The paper provides several experimental tests clearly showing the practicability of the approach and the sharp improvement with respect to state of-the-art approaches.

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“…In [9] and [10] two omnidirectional-thrust vehicles are proposed with 6 and 8 tilted bidirectional-thrust rotors, respectively. Such rotors are able to invert the direction of the lift force by inverting either the motor rotation or the propeller angle of attack.…”

Section: Introductionmentioning

confidence: 99%

Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control

Tognon

Franchi

2018

IEEE Robot. Autom. Lett.

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This paper presents a theoretical study on omnidirectional aerial vehicles with body-frame fixed unidirectional thrusters. Omniplus multi-rotor designs are defined as the ones that allow to exert a total wrench in any direction using positiveonly lift force and drag moment (i.e., positive rotational speed) for each rotor blade. Algebraic conditions for a design to be omniplus are derived, a simple necessary condition being the fact that at least seven propellers have to be used. An energy optimal design strategy is then defined as the one minimizing the maximum norm of the input set needed to span a certain wrench ellipsoid for the adopted input allocation strategy. Two corresponding major design criteria are then introduced: firstly, a minimum allocation-matrix condition number aims at an equal sharing of the effort needed to generate wrenches in any direction; secondly, imposing a balanced design guarantees an equal sharing of the extra effort needed to keep the input in the non-negative orthant. We propose a numerical algorithm to solve such optimal design problem and a control algorithm to control any omnidirectional platform. The work is concluded with informative simulation results in non-ideal conditions.

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Design, modeling and control of omni-directional aerial robot

Cited by 92 publications

References 17 publications

Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force

Omnidirectional Aerial Vehicles With Unidirectional Thrusters: Theory, Optimal Design, and Control

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