効率的な全方向飛行を実現するティルトロータ型マイクロ航空機の設計と最適制御
Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight
任意の姿勢で力を発揮しつつ効率的な飛行姿勢を保てる全方向マイクロ航空機を設計し、特異点に強い6自由度最適制御器を開発して飛行実験で検証した。
著者: Mike Allenspach, Karen Bodie, Maximilian Brunner, Luca Rinsoz, Zachary Taylor, Mina Kamel, Roland Siegwart, Juan Nieto
分類: cs.RO
原文アブストラクト
Omnidirectional micro aerial vehicles are a growing field of research, 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 the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six degrees of freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system's capabilities.
