Omni-Plus-Seven (O$^7_+$): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters

M. Hamandi, K. Sawant, M. Tognon, A. Franchi

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Abstract

The aim of this paper is to present the design of a novel omnidirectional Unmanned Aerial Vehicle (UAV) with seven unidirectional thrusters, called O + 7 . The paper formally defines the O + design for a generic number of propellers and presents its necessary conditions; then it illustrates a method to optimize the placement and orientation of the platform's propellers to achieve a balanced O + design. The paper then details the choice of the parameters of the O + 7 UAV, and highlights the required mechanical and electrical components. The resultant platform is tested in simulation, before being implemented as a prototype. The prototype is firstly static-bench tested to match its nominal and physical models, followed by hovering tests in multiple orientations. The presented prototype shows the ability to fly horizontally, upside down and at a tilted angle.
Original languageEnglish
Title of host publication2020 International Conference on Unmanned Aircraft Systems (ICUAS)
Place of PublicationAthens, Greece
PublisherIEEE
Number of pages1
ISBN (Electronic)978-1-7281-4278-4
DOIs
Publication statusPublished - 1 Sep 2020
EventInternational Conference on Unmanned Aircraft Systems, ICUAS 2020 - Virtual Conference
Duration: 9 Jun 202012 Jun 2020
http://www.uasconferences.com/2020_icuas/

Conference

ConferenceInternational Conference on Unmanned Aircraft Systems, ICUAS 2020
Abbreviated titleICUAS 2020
CityVirtual Conference
Period9/06/2012/06/20
Internet address

Keywords

  • aerialcore

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