Maneuverability Analysis of a Fully-Actuated Hexrotor UAV Considering Tilt Angles and Arrangement of Rotors

Tadokoro, Yuichi; Ibuki, Tatsuya; Sampei, Mitsuji

doi:10.1016/j.ifacol.2017.08.1325

Cited by 25 publications

(15 citation statements)

References 10 publications

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“…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. In such a case, the HexCD concept becomes equivalent to the HexC discussed previously.…”

Section: Hexcdsupporting

confidence: 75%

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: Hexcdsupporting

confidence: 75%

Fully Actuated Multirotor UAVs: A Literature Review

Rashad

Goerres

Aarts

et al. 2020

IEEE Robot. Automat. Mag.

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“…Work performed by Ferrarese et al [ 47 ], Ryll et al [ 48 ] and Tadokoro et al [ 49 ], respectively, present an analytical characterization of the relationships between the dynamic properties of the drone, the arrangement of the rotors and their pitch angles. The results obtained are then taken into account when formulating the design aspects of the hexacopter and the manoeuvrability of the fully powered drone is analysed after the rotors are placed under a certain tilt angle.…”

Section: Related Workmentioning

confidence: 99%

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

Stamate

Pupăză

Nicolescu

et al. 2023

Sensors

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Today, there is a conspicuous upward trend for the development of unmanned aerial vehicles (UAVs), especially in the field of multirotor drones. Their advantages over fixed-wing aircrafts are that they can hover, which allows their usage in a wide range of remote surveillance applications: industrial, strategic, governmental, public and homeland security. Moreover, because the component market for this type of vehicles is in continuous growth, new concepts have emerged to improve the stability and reliability of the multicopters, but efficient solutions with reduced costs are still expected. This work is focused on hexacopter UAV tests carried out on an original platform both within laboratory and on unrestricted open areas during the start–stop manoeuvres of the motors to verify the operational parameters, hover flight, the drone stability and reliability, as well as the aerodynamics and robustness at different wind speeds. The flight parameters extracted from the sensor systems’ comprising accelerometers, gyroscopes, magnetometers, barometers, GPS antenna and EO/IR cameras were analysed, and adjustments were performed accordingly, when needed. An FEM simulation approach allowed an additional decision support platform that expanded the experiments in the virtual environment. Finally, practical conclusions were drawn to enhance the hexacopter UAV stability, reliability and manoeuvrability.

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“…The paper also investigates the failure of a single propeller and concludes with theoretical contributions. Tadokoro et al (2017) investigated an optimal design based on ''dynamic manipulability measure.'' It can be understood as omnidirectional acceleration capabilities similar to the manipulator case and is expressed as ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ffi det FF T p .…”

Section: S 2 Tilting Designsmentioning

confidence: 99%

“…Both methods rely on heavy symmetry constraints imposed on the design, in terms of AAU disposition and tilting. Interestingly, the optimal design for these two metrics does not require AAUs to be oriented in S 2 , only radial tilting of around 37 8 and 35 8 for Mehmood et al (2016) and Tadokoro et al (2017), respectively. However, we do note that only radial tilting renders the design fully vulnerable to AAU failure (Michieletto et al, 2017).…”

Section: S 2 Tilting Designsmentioning

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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Maneuverability Analysis of a Fully-Actuated Hexrotor UAV Considering Tilt Angles and Arrangement of Rotors

Cited by 25 publications

References 10 publications

Fully Actuated Multirotor UAVs: A Literature Review

Fully Actuated Multirotor UAVs: A Literature Review

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

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

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