Abstract
This paper deals with a novelmicro aerial vehicle (MAV) design, the Omnicopter MAV. The Omnicopter has two central counter-rotating coaxial propellers for thrust and yaw control and three perimeter-mounted variable angle ducted fans for lateral forces and roll/pitch control. It can work under two configurations, a fixed 90. ducted fan angle configuration and a variable angle ducted fan configuration. The latter one makes the Omnicopter overactuated. After a brief introduction of the Omnicopter platform and a comparison between different MAV configurations, we discuss the control design and allocation techniques for the variable angle ducted fan configuration. Simulation and experimental results verify the design of the Omnicopter, and compare the performance between the two configurations.
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© 2013 Springer International Publishing Switzerland
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Long, Y., Cappelleri, D.J. (2013). Omnicopter: A Novel Overactuated Micro Aerial Vehicle. In: Kumar, V., Schmiedeler, J., Sreenivasan, S., Su, HJ. (eds) Advances in Mechanisms, Robotics and Design Education and Research. Mechanisms and Machine Science, vol 14. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00398-6_16
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DOI: https://doi.org/10.1007/978-3-319-00398-6_16
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-00397-9
Online ISBN: 978-3-319-00398-6
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