In this paper, we consider a non-conventional hexarotor whose propellers can be simultaneously tilted about two orthogonal axes: in this way, its underactuation degree can be easily adapted to the task at hand. For a given tilt profile, the minimum-energy trajectory between two prescribed boundary states is explicitly determined by solving an optimal control problem with respect to the angular accelerations of the six brushless motors. We also perform, for the first time, a systematic study of the singularities of the control allocation matrix of the hexarotor, showing the presence of subtle singular configurations that should be carefully avoided in the design phase. Numerical experiments conducted with the FAST-Hex platform illustrate the theory and delineate the pros and cons of dual-tilting paradigm in terms of maneuverability and energy efficiency.
|Title of host publication||2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)|
|Publication status||Published - Oct 2018|
|Event||2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018: Towards a Robotic Society - Madrid Municipal Conference Centre, Madrid, Spain|
Duration: 1 Oct 2018 → 5 Oct 2018
|Conference||2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018|
|Abbreviated title||IROS 2018|
|Period||1/10/18 → 5/10/18|