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Pré-Publication, Document De Travail Année : 2020

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

Résumé

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.
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Dates et versions

hal-02498482 , version 1 (04-03-2020)
hal-02498482 , version 2 (31-05-2020)
hal-02498482 , version 3 (16-10-2020)

Identifiants

  • HAL Id : hal-02498482 , version 1

Citer

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⟩
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