過駆動型MAVによる効率的な完全姿勢全方向性の実現
Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
任意の姿勢で力を発生でき、かつ効率的な飛行構成を保てる新型全方向性ドローンのVoliroXを開発し、特異点に強い6自由度幾何学制御と飛行実験で性能を実証した。
著者: Karen Bodie, Zachary Taylor, Mina Kamel, Roland Siegwart
分類: cs.RO
原文アブストラクト
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.
