Estimation and optimization of fully-actuated multirotor platform with nonparallel actuation mechanism

Jiang, Guangying; Voyles, Richard M.; Sebesta, Kenneth; Greiner, Helen

doi:10.1109/iros.2017.8206605

Cited by 21 publications

(19 citation statements)

References 11 publications

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“…Another study [17] analyzed how different angles changed the maximum achievable lateral accelerations as well as the dynamic maneuverability of the UAV. In [18] and [19], a multiobjective optimization was performed to determine the cant and dihedral angles for a physical-interaction application. The objective function was chosen as a weighted sum of three…”

Section: Hexcdmentioning

confidence: 99%

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Fully Actuated Multirotor UAVs: A Literature Review

Rashad

Goerres

Aarts

et al. 2020

IEEE Robot. Automat. Mag.

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In the last decade, the aerial robotics community has witnessed an increased interest in fully actuated multirotor unmanned aerial vehicles (UAVs) that have more capabilities than conventional underactuated multirotors. This article collects the different UAV designs having fully actuated aerodynamic wrench generation proposed in the literature to date. The work includes a systematic derivation of the control-allocation matrix for all of the concepts as well as a discussion of the different quantitative criteria used for optimizing UAV designs. Conventional Multirotor UAVsUAVs have seen great growth in popularity. They have facilitated cost-effective engineering solutions in many civilian applications by enabling various sensors to be deployed in the air. Multirotor UAVs have been widely used due to their unique qualities, such as vertical takeoff and landing, hovering, and mechanical simplicity. Conventional multirotor UAV designs, including the quadrotor and hexarotor, are optimized for maximum flight time. All such UAV rotors have parallel directions to collectively counteract gravity. Consequently, conventional multirotor UAVs have underactuated dynamics due to the coupling between the horizontal translational and rotational dynamics.

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Section: Hexcdmentioning

confidence: 99%

“…criteria: the maximum lateral forces, flying efficiency, and dihedral effect. The interesting result in [18] and [19] was that the optimal set of angles could be chosen in most cases such that . 0 b = A similar result was achieved in [20] using the dynamic maneuverability as the optimization criteria.…”

Section: Hexcdmentioning

confidence: 99%

Fully Actuated Multirotor UAVs: A Literature Review

Rashad

Goerres

Aarts

et al. 2020

IEEE Robot. Automat. Mag.

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show abstract

“…Indeed, saturations hinder the multirotor dynamics, and if not taken into account properly, can result in destabilizing the control actions, in particular in dynamical maneuvers or while in physical interaction. While a few papers study the saturation's effect on control (Franchi et al, 2018;Invernizzi and Lovera, 2017), we found only one work that incorporates the actuation limits in their design Jiang et al (2017). In particular, Jiang et al (2017) optimized propeller tilt angles of a tilted hexarotor (similar to Figure 21, top) to increase the possible platform lift while increasing the efficiency of the platform.…”

Section: Actuator Limitsmentioning

confidence: 99%

“…While a few papers study the saturation's effect on control (Franchi et al, 2018;Invernizzi and Lovera, 2017), we found only one work that incorporates the actuation limits in their design Jiang et al (2017). In particular, Jiang et al (2017) optimized propeller tilt angles of a tilted hexarotor (similar to Figure 21, top) to increase the possible platform lift while increasing the efficiency of the platform.…”

Section: Actuator Limitsmentioning

confidence: 99%

Design of multirotor aerial vehicles: A taxonomy based on input allocation

Hamandi

Usai

Sablé

et al. 2021

The International Journal of Robotics Research

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This paper reviews the effect of multirotor aerial vehicle designs on their abilities in terms of tasks and system properties. We propose a general taxonomy to characterize and describe multirotor aerial vehicles and their designs, which we apply exhaustively on the vast literature available. Thanks to the systematic characterization of the designs, we exhibit groups of designs having the same abilities in terms of achievable tasks and system properties. In particular, we organize the literature review based on the number of atomic actuation units and we discuss global properties arising from their choice and spatial distribution in the mechanical designs. Finally, we provide a discussion on the common traits of the designs found in the literature and the main open and future problems.

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“…These operations are pressing a switch, 36 peg-in-hole operation, 37,124 bridge inspection, 125,126 and other contact-based missions. 41,63,83,85,89,[127][128][129][130] In addition, the cooperative aerial transportation of AM systems has also been developed to carry a heavier or bulkier object, which shows greater capacity than that of a single AM. Two multi-DOF AMs are usually used to fulfill cooperative tasks, and studied by University of Naples Federico II, 131 Seoul National University, 132,133 and University of Zurich.…”

Section: Motion-restricted Operationmentioning

confidence: 99%

Survey on Aerial Manipulator: System, Modeling, and Control

Meng

He²,

Han

2019

Robotica

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SUMMARYThe aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

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Estimation and optimization of fully-actuated multirotor platform with nonparallel actuation mechanism

Cited by 21 publications

References 11 publications

Fully Actuated Multirotor UAVs: A Literature Review

Fully Actuated Multirotor UAVs: A Literature Review

Design of multirotor aerial vehicles: A taxonomy based on input allocation

Survey on Aerial Manipulator: System, Modeling, and Control

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