Design and implementation of a dual-axis tilting quadcopter. Junaid, A. B., Sanchez, A. D. D. C., Bosch, J. B., Vitzilaios, N., & Zweiri, Y. Robotics, MDPI AG, 2018. doi abstract bibtex Standard quadcopters are popular largely because of their mechanical simplicity relative to other hovering aircraft, low cost and minimum operator involvement. However, this simplicity imposes fundamental limits on the types of maneuvers possible due to its under-actuation. The dexterity and fault tolerance required for flying in limited spaces like forests and industrial infrastructures dictate the use of a bespoke dual-tilting quadcopter that can launch vertically, performs autonomous flight between adjacent obstacles and is even capable of flying in the event of the failure of one or two motors. This paper proposes an actuation concept to enhance the performance characteristics of the conventional under-actuated quadcopter. The practical formation of this concept is followed by the design, modeling, simulation and prototyping of a dual-axis tilting quadcopter. Outdoor flight tests using tilting rotors, to follow a trajectory containing adjacent obstacles, were conducted in order to compare the flight of conventional quadcopter with the proposed over-actuated vehicle. The results show that the quadcopter with tilting rotors provides more agility and mobility to the vehicle especially in narrow indoor and outdoor infrastructures.
@ARTICLE{Junaid2018,
author = {Junaid, Ali Bin and Sanchez, Alejandro Diaz De Cerio and Bosch, Javier Betancor and Vitzilaios, Nikolaos and Zweiri, Yahya},
title = {Design and implementation of a dual-axis tilting quadcopter},
year = {2018},
journal = {Robotics},
volume = {7},
number = {4},
doi = {10.3390/robotics7040065},
affiliations = {Department of Mechanical Engineering, KU Leuven, Leuven, 3000, Belgium; Faculty of Science, Engineering and Computing, Kingston University London, London, SW15 3DW, United Kingdom; Department of Mechanical Engineering, University of South Carolina, Columbia, 29208, SC, United States; Khalifa University Center for Autonomous Robotic Systems, Department of Aerospace Engineering, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, United Arab Emirates},
abstract = {Standard quadcopters are popular largely because of their mechanical simplicity relative to other hovering aircraft, low cost and minimum operator involvement. However, this simplicity imposes fundamental limits on the types of maneuvers possible due to its under-actuation. The dexterity and fault tolerance required for flying in limited spaces like forests and industrial infrastructures dictate the use of a bespoke dual-tilting quadcopter that can launch vertically, performs autonomous flight between adjacent obstacles and is even capable of flying in the event of the failure of one or two motors. This paper proposes an actuation concept to enhance the performance characteristics of the conventional under-actuated quadcopter. The practical formation of this concept is followed by the design, modeling, simulation and prototyping of a dual-axis tilting quadcopter. Outdoor flight tests using tilting rotors, to follow a trajectory containing adjacent obstacles, were conducted in order to compare the flight of conventional quadcopter with the proposed over-actuated vehicle. The results show that the quadcopter with tilting rotors provides more agility and mobility to the vehicle especially in narrow indoor and outdoor infrastructures.},
author_keywords = {Aerial robotics; Dual-tilting; Flight control; Over-actuation; Quadcopters; Rotorcraft; Tilting rotors; UAVs},
correspondence_address = {Y. Zweiri; Faculty of Science, Engineering and Computing, Kingston University London, London, SW15 3DW, United Kingdom; email: Y.Zweiri<at>Kingston.ac.uk},
publisher = {MDPI AG},
issn = {22186581},
language = {English},
abbrev_source_title = {Robotics},
type = {Article},
publication_stage = {Final},
source = {Scopus}
}
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