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TiltDrone: a Fully-Actuated Tilting Quadrotor Platform
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2020-10-01 , DOI: 10.1109/lra.2020.3010460
Peter Zheng , Xinkai Tan , Basaran Bahadir Kocer , Erdeng Yang , Mirko Kovac

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 $30^\circ$ incline, and track position commands by thrust vectoring [Video attachment: https://youtu.be/8HOQl_77CVg].

中文翻译:

TiltDrone:全驱动倾斜四旋翼平台

多向空中平台几乎可以在任何方向和方向飞行,通常以它们的欠驱动平台无法比拟的方式进行机动。多向平台的一个子集是全驱动多旋翼,其中所有六个自由度都是独立控制的,没有冗余。全驱动多旋翼无人机比传统多旋翼无人机拥有更大的运动自由度,使其能够执行复杂的传感和操纵任务。虽然对多向多旋翼控制系统进行了全面的研究,但硬件设计的范围仍然分散。这封信阐述了全驱动四旋翼飞行器的硬件设计架构及其相关控制框架。遵循新颖的平台设计,建造了一个原型来验证控制方案并表征飞行性能。所产生的四旋翼飞行器在运行中显示能够在 30 美元的倾斜度上保持静止悬停,并通过推力矢量跟踪位置命令 [视频附件:https://youtu.be/8HOQl_77CVg]。
更新日期:2020-10-01
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