A maneuverability analysis of a novel hexarotor UAV concept

Hamza Mehmood, Takuma Nakamura, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

The sole means for conventional multirotor UAVs to achieve horizontal translation motion is by inducing changes in vehicle attitude. The lack of horizontal force control not only disallows full controllability in all 6 Degrees of Freedom (DoFs), but also limits the set of possible control solutions. One way of achieving horizontal force control is by mounting the rotors of a UAV under a fixed amount of tilt. Although this type of UAVs has been the topic of research in the past, there is still ample ground to cover in this area. Therefore, in this paper the maneuverability of a fully-actuated hexarotor is assessed. It is seen how a change in rotor tilt affects vehicle maneuverability and how propulsive efficiency is affected at the extremes. Furthermore, it is investigated what implications these results have for the high-level design process. Finally, it is seen how maneuverability is affected if one of the motors fails.

Original languageEnglish (US)
Title of host publication2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages437-446
Number of pages10
ISBN (Electronic)9781467393331
DOIs
StatePublished - Jun 30 2016
Event2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 - Arlington, United States
Duration: Jun 7 2016Jun 10 2016

Publication series

Name2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016

Other

Other2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
CountryUnited States
CityArlington
Period6/7/166/10/16

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All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Mehmood, H., Nakamura, T., & Johnson, E. N. (2016). A maneuverability analysis of a novel hexarotor UAV concept. In 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 (pp. 437-446). [7502576] (2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2016.7502576