Ground Control of a Hybrid Tricopter

Abstract : Optimizing energy consumption of Micro Aerial Vehicles is one of several problems that remains to be solved in the domain of UAVs. In a recent work, a novel quadrotor was introduced that was able, when possible, to roll on the ground thanks to a tilting propeller and caster wheels. In the following work, we build upon this idea with a trirotor helicopter where all the rotors are independently tilting. This grants our model a greater maneuverability both in flight and on the ground. We validate in this paper the flatness-based control approach by showing the ability of our UAV to follow arbitrary trajectories on the ground.
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Conference papers
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https://hal-centralesupelec.archives-ouvertes.fr/hal-02332413
Contributor : Delphine Le Piolet <>
Submitted on : Thursday, October 24, 2019 - 5:36:18 PM
Last modification on : Wednesday, October 30, 2019 - 11:48:43 AM

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  • HAL Id : hal-02332413, version 1

Citation

Etienne Servais, Brigitte d'Andréa-Novel, Hugues Mounier. Ground Control of a Hybrid Tricopter. International Conference on Unmanned Aircraft Systems (ICUAS), Jun 2015, Denver, United States. ⟨hal-02332413⟩

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