Hal will be stopped for maintenance from friday on june 10 at 4pm until monday june 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

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.
Document type :
Conference papers
Complete list of metadata

https://hal-centralesupelec.archives-ouvertes.fr/hal-02332413
Contributor : Delphine Le Piolet Connect in order to contact the contributor
Submitted on : Thursday, October 24, 2019 - 5:36:18 PM
Last modification on : Thursday, November 18, 2021 - 3:02:02 AM

Identifiers

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. ⟨10.1109/icuas.2015.7152382⟩. ⟨hal-02332413⟩

Share

Metrics

Record views

34