AUTHORS: Denis Kotarski, Matija Piljek, Marina Tevčić, Vedran Vyroubal
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ABSTRACT: Multirotor Unmanned Aerial Vehicles (UAV) are widely used in many applications such as surveillance, inspection operations and disaster site observations. There are various multirotor configurations which depend on the tasks requirements. In our case study, we investigated design considerations for a micro indoor multirotor. It consists of a frame, propulsion, sensors for indoor flight and open source autopilot which is suitable for control algorithm implementation. A full nonlinear mathematical model, which is divided into rigid body dynamics and control allocation scheme (CAS), is described. In this paper, a CAS matrix for flat multirotor configurations (FMRC) is derived which enable analysis of different multirotor properties such as agility, payload, power consumption, endurance and other. The series of measurements were conducted to present propulsion efficiency and to obtain aerodynamic coefficients. Various FMRC were analyzed through a series of open loop simulations. Results show that single FMRC have a much higher efficiency of coaxial FMRC while maintaining extreme agility.
KEYWORDS: Multirotor UAV, 6 DOF, rigid body, CAS matrix, FMRC
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