Modeling And Development Of A 4 Rotors Helicopter Uav

This paper presents the conception and construction of a mini 4 rotors helicopter for indoor and outdoor applications. The proposed UAV, named XSF, has a very maneuverable platform and is indicated to work in inaccessible spaces such as performing inspection tasks under bridges as well as inside pip...

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Bibliographic Details
Published in:IFAC proceedings volumes (Online) 2007, Vol.40 (15), p.215-220
Main Authors: Azouz, Naoufel, Benzemrane, Khadidja, Damm, Gilney, Pradel, Gilbert
Format: Article
Language:English
Subjects:
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Engineering Sciences
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Summary:This paper presents the conception and construction of a mini 4 rotors helicopter for indoor and outdoor applications. The proposed UAV, named XSF, has a very maneuverable platform and is indicated to work in inaccessible spaces such as performing inspection tasks under bridges as well as inside pipes or tanks. Its main advantage with respect to classical 4 rotors helicopters is the ability of flipping two motors in order to obtain two more control inputs. This feature allows the XSF to have a better horizontal displacement or to create a yaw movement without translation. In this work we present the XSF's conception and implementation as well as its dynamic model, including the aerodynamic and gyroscopic effects.
ISSN:1474-6670
2589-3653
DOI:10.3182/20070903-3-FR-2921.00039