Skip to Main content Skip to Navigation
Preprints, Working Papers, ...

Omni-Plus-Seven (O 7 + ): An Omnidirectional Aerial Prototype with Minimal Uni-directional Thrusters

Abstract : The aim of this paper is to present the design of a novel omnidirectional Unmanned Aerial Vehicle (UAV) with seven uni-directional thrusters, O 7 +. The paper formally defines the O + design for a generic number of propellers and presents its necessary conditions; then it illustrates a method to optimize the placement and orientation of the platform's propellers to achieve a balanced O + design. The paper then details the choice of the parameters of the O 7 + UAV, and highlights the required mechanical and electrical components. The resultant platform is tested in simulation, before being implemented as a prototype. The prototype is firstly static-bench tested to match its nominal and physical models, followed by hovering tests in multiple orientations. The presented prototype shows the ability to fly horizontally, upside down and at a tilted angle.
Document type :
Preprints, Working Papers, ...
Complete list of metadatas

Cited literature [18 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-02498482
Contributor : Mahmoud Hamandi <>
Submitted on : Wednesday, March 4, 2020 - 2:58:50 PM
Last modification on : Thursday, June 18, 2020 - 3:27:17 AM
Document(s) archivé(s) le : Friday, June 5, 2020 - 2:13:10 PM

Files

Identifiers

  • HAL Id : hal-02498482, version 1

Citation

Mahmoud Hamandi, Kapil Sawant, Marco Tognon, Antonio Franchi. Omni-Plus-Seven (O 7 + ): An Omnidirectional Aerial Prototype with Minimal Uni-directional Thrusters. 2020. ⟨hal-02498482v1⟩

Share

Metrics

Record views

253

Files downloads

56