Design and Implementation of a Dual-Axis Tilting Quadcopter

• DOI: 10.3390/robotics7040065
• Publication Date: 2018-10-23T12:43:36Z
• Authors: Ali Bin Junaid; Alejandro Diaz De...; Javier Betancor B...; Nikolaos Vitzilaios; Yahya Zweiri
• Keywords: Quadcopter; Simplicity; Drone

Standard quadcopters are popular largely because of their mechanical simplicity relative to other hovering aircraft, low cost and minimum operator involvement. However, this imposes fundamental limits on the types maneuvers possible due its under-actuation. The dexterity fault tolerance required for flying in limited spaces like forests industrial infrastructures dictate use a bespoke dual-tilting quadcopter that can launch vertically, performs autonomous flight between adjacent obstacles is even capable event failure one or two motors. This paper proposes an actuation concept enhance performance characteristics conventional under-actuated quadcopter. practical formation followed by design, modeling, simulation prototyping dual-axis tilting Outdoor tests using rotors, follow trajectory containing obstacles, were conducted order compare with proposed over-actuated vehicle. results show rotors provides more agility mobility vehicle especially narrow indoor outdoor infrastructures.