{"id":247,"date":"2021-01-31T03:03:00","date_gmt":"2021-01-31T02:03:00","guid":{"rendered":"https:\/\/ramyrashad.com\/?p=247"},"modified":"2023-08-20T15:49:17","modified_gmt":"2023-08-20T14:49:17","slug":"fully-actuated-multirotor-uavs","status":"publish","type":"post","link":"https:\/\/ramyrashad.com\/index.php\/2021\/01\/31\/fully-actuated-multirotor-uavs\/","title":{"rendered":"Fully-actuated Multirotor UAVs"},"content":{"rendered":"\n

Research Overview<\/strong><\/p>\n\n\n\n

Several fully-actuated multirotor platforms have been introduced in the past decade to overcome the underactuation property of conventional multirotors. Full-actuation has been mainly realized by two techniques; either by having fixed propellers with dissimilar orientations, which we refer to as fixed-tilt concepts<\/em>, or by actively tilting propellers using extra actuators, which we refer to as variable-tilt concepts<\/em>.<\/p>\n\n\n\n

The problem with fully-actuated UAV concepts is that the optimal rotor configuration is application-dependent, contrary to underactuated concepts which usually have the orientation of their rotors to be vertical in an in-plane symmetric configuration. To achieve full-actuation, the orientation and location of the rotors needs to be altered, which results in a wide range of possible rotor configurations. Depending on the requirements of the application, this results in a vast variety of different possible concepts.<\/p>\n\n\n\n

In this research work we present a review of the available concepts in the aerial robotics literature suggested for achieving fully-actuated flight. The focus is mainly on fully-actuated multi-rotor UAVs using propellers only for propulsion since they are more popular in the aerial robotics literature. The surveyed concepts are divided into fixed-tilt multirotors and variable-tilt multirotors. The work also includes a review of the optimization criteria used in the literature for optimizing the design parameters of fixed-tilt multirotor UAVs. Moreover, a static wrench analysis has been utilized to systematically derive the control allocation matrix in a unified frame of reference for all the surveyed concepts.<\/p>\n\n\n\n

Publication<\/strong><\/p>\n\n\n\n

Ramy Rashad, Jelmer Goerres, Ronald Aarts, Johan B.C. Engelen, Stefano Stramigioli (2020) Fully Actuated Multirotor UAVs: A Literature Review, IEEE Robotics and Automation Magazine 27(3), p. 97-107, IEEE, doi:10.1109\/MRA.2019.2955964<\/a>

Jelmer Goerres, Framework for comparing and optimizing of fully actuated multirotor UAVs<\/a>, University of Twente (Feb 2019), Supervisors: R.Rashad, J. Engelen, R. Aarts<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n
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Figures of Fixed-Tilt Concepts Reviewed in the Paper<\/figcaption><\/figure><\/div>\n\n
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Figures of Variable-Tilt Concepts Reviewed in the Paper<\/figcaption><\/figure><\/div>","protected":false},"excerpt":{"rendered":"

Research Overview Several fully-actuated multirotor platforms have been introduced in the past decade to overcome the underactuation property of conventional multirotors. Full-actuation has been mainly realized by two […]<\/p>\n","protected":false},"author":1,"featured_media":278,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"ub_ctt_via":"","_mi_skip_tracking":false,"footnotes":""},"categories":[12],"tags":[],"aioseo_notices":[],"featured_image_src":"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/FAUAVs.png","author_info":{"display_name":"Ramy","author_link":"https:\/\/ramyrashad.com\/index.php\/author\/ramy-abdelmonemgmail-com\/"},"_links":{"self":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/247"}],"collection":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/comments?post=247"}],"version-history":[{"count":6,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/247\/revisions"}],"predecessor-version":[{"id":577,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/247\/revisions\/577"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media\/278"}],"wp:attachment":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media?parent=247"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/categories?post=247"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/tags?post=247"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}