Fully Actuated Multirotor UAVs: A Literature Review
IEEE Robotics & Automation Magazine(2020)
摘要
In the last decade, the aerial robotics community has witnessed an increased interest in fully actuated multirotor unmanned aerial vehicles (UAVs) that have more capabilities than conventional underactuated multirotors. This article collects the different UAV designs having fully actuated aerodynamic wrench generation proposed in the literature to date. The work includes a systematic derivation of the control-allocation matrix for all of the concepts as well as a discussion of the different quantitative criteria used for optimizing UAV designs.
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关键词
aerial robotics community,fully actuated multirotor unmanned aerial vehicles,underactuated multirotors,aerodynamic wrench generation,optimizing UAV designs,multirotor UAVs
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