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arXiv · 1810.06258

Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Karen Bodie·Zachary Taylor·Mina Kamel·Roland Siegwart
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Abstract

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.

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Karen Bodie, Zachary Taylor, Mina Kamel, Roland Siegwart. 2018-10-15. Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs. https://doi.org/10.1007/978-3-030-33950-0_8

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