Autonomous Perching of an Omni-Directional Unmanned Aerial Vehicle

A novel omni-directional multi-rotor prototype with an attached gripper mechanism called the OmniRaptor is presented. The OmniRaptor has the capability to land on inclined members in a controlled, stable manner. The control system for fully autonomous waypoint guided omnidirectional flight is presen...

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Bibliographic Details
Main Authors: Baird, Christopher, Nokleby, Scott
Format: Conference Proceeding
Language:English
Subjects:
Attitude control
Grasping
Grippers
Land surface
Rotors
Trajectory
Unmanned aerial vehicles
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Description
Summary:A novel omni-directional multi-rotor prototype with an attached gripper mechanism called the OmniRaptor is presented. The OmniRaptor has the capability to land on inclined members in a controlled, stable manner. The control system for fully autonomous waypoint guided omnidirectional flight is presented. The results of test flights are shown demonstrating autonomous take-off, flying, and landing with secure grasping for both a level and an inclined beam. The results show that the OmniRaptor's design and controller allow it to fly and land at arbitrary attitudes which is not possible for traditional quad-rotors.
ISSN:2644-3163
DOI:10.1109/IEMCON51383.2020.9284825