UAV fully-actuated: modelo, control y comparación con configuración coplanaria

Antonio González-Morgado; Carlos Álvarez-Cía; Guillermo Heredia Benot; Aníbal  Ollero Baturone

doi:10.4995/riai.2023.19348

Autores/as

Antonio González-Morgado Universidad de Sevilla
Carlos Álvarez-Cía Universidad de Sevilla
Guillermo Heredia Universidad de Sevilla
Aníbal Ollero Universidad de Sevilla

DOI:

https://doi.org/10.4995/riai.2023.19348

Palabras clave:

UAVs, robótica aérea, robótica, modelado

Resumen

Con el desarrollo de la robótica aérea han aparecido nuevas plataformas de multirotores de actuación completa (fully-actuated en inglés), las cuales tienen la capacidad de desplazarse sin inclinar la plataforma. Este artículo presenta una comparación en cuanto a capacidades de movimiento entre un hexarotor de rotores coplanarios, configuración estándar, y un hexarotor de rotores inclinados, configuración fully-actuated. Para ello, se presenta el diseño, modelo y control de ambas configuraciones. Tras el montaje de las plataformas, se comparan con diferentes trayectorias, mediante simulaciones y experimentos. Así mismo, se muestran capacidades exclusivas de la plataforma fully-actuated, como la capacidad de mantenerse en hover con un ángulo de inclinación. Finalmente, se presenta la aplicación de la plataforma fully-actuated para inspección visual de techos de puentes. Vídeo del artículo: https://youtu.be/d95Qvz5hba4

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Biografía del autor/a

Antonio González-Morgado, Universidad de Sevilla

Grupo de Robótica, Visión y Control

Carlos Álvarez-Cía, Universidad de Sevilla

Grupo de Robótica, Visión y Control

Guillermo Heredia, Universidad de Sevilla

Grupo de Robótica, Visión y Control

Aníbal Ollero, Universidad de Sevilla

Grupo de Robótica, Visión y Control

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