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Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards

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Abstract

We study the effects of tilting the plane of rotations of the rotors of a quadrotor helicopter inwards, a structure inspired by the dihedral angle in fixed-wing airplanes. We show that this configuration yields effects that contribute to stability and reduce the dependency on velocity measurement which, in many cases, is hard to achieve at sufficient rate and accuracy. We present a theoretical analysis supported by simulations and by experiments.

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Authors and Affiliations

  1. The Department of Mechanical Engineering, Ben Gurion University of The Negev, Be’er Sheva, Israel

    Hanoch Efraim & Amir Shapiro

  2. The Department of Computer Science, Ben Gurion University of The Negev, Be’er Sheva, Israel

    Gera Weiss

Authors
  1. Hanoch Efraim
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  2. Amir Shapiro
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  3. Gera Weiss
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Correspondence to Hanoch Efraim.

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Efraim, H., Shapiro, A. & Weiss, G. Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards. J Intell Robot Syst 80, 313–324 (2015). https://doi.org/10.1007/s10846-015-0176-4

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  • DOI: https://doi.org/10.1007/s10846-015-0176-4

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