TY - GEN
T1 - Design and Characteristics of a New Transformable UAV with both Coplanar and Omnidirectional Features
AU - Lu, Shi
AU - Rodriguez, Armando
AU - Tsakalis, Konstantinos
AU - Chen, Yan
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - To broaden and promote the applications of unmanned aerial vehicles (UAVs), UAVs with agile and omnidirectional mobility enabled by full or over actuation are a growing field of research. However, the balance of motion agility and force (energy) efficiency is challenging for a fixed UAV structure. This paper presents the new design of a transformable UAV, which can operate as a coplanar hexacopter or as an omnidirectional multirotor based on different operation modes. The UAV has 100% force efficiency for launching or landing tasks in the coplanar mode. In the omnidirectional mode, the UAV is fully actuated in the air for agile mobility in six degrees of freedom (DOFs). Models and control design are developed to characterize the motion of the transformable UAV. Simulation results are presented to validate the transformable UAV design and the enhanced UAV performance, compared with a fixed structure.
AB - To broaden and promote the applications of unmanned aerial vehicles (UAVs), UAVs with agile and omnidirectional mobility enabled by full or over actuation are a growing field of research. However, the balance of motion agility and force (energy) efficiency is challenging for a fixed UAV structure. This paper presents the new design of a transformable UAV, which can operate as a coplanar hexacopter or as an omnidirectional multirotor based on different operation modes. The UAV has 100% force efficiency for launching or landing tasks in the coplanar mode. In the omnidirectional mode, the UAV is fully actuated in the air for agile mobility in six degrees of freedom (DOFs). Models and control design are developed to characterize the motion of the transformable UAV. Simulation results are presented to validate the transformable UAV design and the enhanced UAV performance, compared with a fixed structure.
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U2 - 10.1109/ICUAS54217.2022.9836144
DO - 10.1109/ICUAS54217.2022.9836144
M3 - Conference contribution
AN - SCOPUS:85136129965
T3 - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
SP - 831
EP - 838
BT - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
Y2 - 21 June 2022 through 24 June 2022
ER -