Trajectory Generation for Underactuated Multirotor Vehicles with Tilted\n Propellers via a Flatness-based Method

2019/05/15 by Bingguo Mu, Mu, Bingguo, Pakpong Chirarattananon +1 · 1 citation
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #FOS: Computer and information sciences #Guidance and Control Systems #Robotic Path Planning Algorithms #Robotics (cs.RO)

paper · pdf · doi:10.48550/arxiv.1905.06496

openalex publication_date 2019/05/15 · openalex created_date 2019/10/25 · openalex updated_date 2026/07/28

Abstract

This paper considers a class of rotary-wing aerial robots with unaligned\npropellers. By studying the dynamics of these vehicles, we show that the\nposition and heading angle remain flat outputs of the system (similar to\nconventional quadrotors). The implication is that they can be commanded to\nfollow desired trajectory setpoints in 3D space. We propose a numerical\nstrategy based on the collocation method to facilitate the trajectory\ngeneration. This enables convenient computation of the nominal robot's attitude\nand control inputs. The proposed methods are numerically verified for three\nmultirotor robots with different dynamics. These include a tricopter with a\ntilting propeller, and a quadrotor and a hexacopter with unparalleled\npropellers.\n

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