Omnidirectional codecamper taught arbitrary movements

Swiss engineers have taught a 12-helix drone with rotating rotors to perform complex movements while maintaining the efficiency of flight or to fulfill another secondary objective. A new algorithm for flight control based on the application as commands jerks, not accelerations screws. Preprint published on arXiv.org.

Most multicopters is designed quadrocopter with fixed rotors. This design is simple in manufacturing and operation: to turn or bend in the right direction, you just need to change the size and the ratio of the thrust on the four screws. But it has low efficiency as well as limitations on what provisions may steadily be the case.

Multicopters have fixed there is an alternative in the form of a multicopter with rotating rotors that can be placed separately, one rotor on the shoulder, and can be dual and opposite directions. In such devices, the thrust vector can be set for each rotor or a pair of the rotors separately, which potentially allows for much greater agility and control over the position of the body, as in the case of the drone inspector. But while the scope of the control algorithms of an Omni-directional flying drones develop enough and perfect designs kept in scope by the algorithms.

In 2019, Swiss engineers under the leadership of Juan Nieto (Juan Nieto) from ETH Zurich presented a 12-rotor quadcopter with dual rotatable rotors. They have also created an efficient algorithm that can precisely control the position of the effector on the drone. Now they have created a new universal algorithm for flight control, allowing the drone to be stable in almost any position.

It is based on linear-quadratic regulator, and it gives the teams not in the form of accelerations, and in the form of linear and angular jerks (vektrona this value indicates the rate of growth acceleration). Apart from following a given trajectory, the algorithm can simultaneously perform the second task, optimizing movement to suit the conditions of both of them. For example, the second objective can be the monitoring of the efficiency of flight or to minimize twisting of the tether cable. In addition, the algorithm to cope with the challenges in this design are degenerate kinematic configurations.

The engineers posted a video with the tests that shows how the drone performs complex maneuvers, repeating body desired trajectory. For example, in one of the flying drone made a circle, being perpendicular to the surface condition and continuously revolving.

Earlier we talked about the other drones the Swiss engineers, in addition is capable of tracking its trajectory to track the trajectory of the second body. It has classical design of the quadcopter, but a control algorithm of the flight, allowing him to perform complex maneuvers with a loose upright pole, including a coup.

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