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- W2891102912 abstract "Abstract In this paper we present the design, modelling and control of an omni-directional multirotor vehicle, i.e. a fully-actuated vehicle that can hover at any attitude and accelerate in any direction. Based on a static force and torque analysis for generic rotor configurations, an octorotor configuration is derived that maximizes the vehicle’s agility while rendering its characteristics almost rotationally invariant. A prototype vehicle with the derived rotor configuration is built using reversible fixed-pitch rotors that can generate positive and negative thrust, enabling the vehicle to independently control its thrust and torque in all three dimensions. A control scheme that allows for simultaneously tracking a desired position and attitude trajectory is introduced. Experimental results demonstrate the feasibility of the vehicle design and control strategy." @default.
- W2891102912 created "2018-09-27" @default.
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- W2891102912 date "2018-11-01" @default.
- W2891102912 modified "2023-10-14" @default.
- W2891102912 title "An omni-directional multirotor vehicle" @default.
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- W2891102912 doi "https://doi.org/10.1016/j.mechatronics.2018.08.005" @default.
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