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Communication Dans Un Congrès Année : 2023

Trajectory Optimization for Fully Actuated Hexacopters : Enhancing Maneuverability and Applications

Mohamad Hachem
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Thierry Miquel
Murat Bronz
Clément Roos
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  • PersonId : 1063475

Résumé

Trajectory optimization is a challenging task in the robotics community. Several factors need to be taken into account when generating a feasible optimized trajectory. The optimization process heavily relies on the dynamic model of the system. Currently, there are various drone designs available, categorized based on their actuation status. In this study, we apply a trajectory optimization technique to a fully actuated hexacopter (FA-Hex), which is a new application to the best of our knowledge. This type of vehicle has been successfully integrated into several practical applications. Unlike the under-actuated hexacopter (UA-Hex), the FA-Hex can perform maneuvers with minimal banking angles, significantly enhancing the drone's maneuverability. Our research focuses specifically on trajectory optimization for the FA-Hex and demonstrates the adaptability of our method to different scenarios. We discuss two specific applications: a drone filming without a gimbal joint and a drone with a cable-suspended pendulum. We compare the simulation results with the UA-Hex model to highlight the differences in maneuverability between the two systems. The trajectory optimization is performed offline using CasADi in the MATLAB framework.

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Dates et versions

hal-04396701 , version 1 (16-01-2024)

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  • HAL Id : hal-04396701 , version 1

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Mohamad Hachem, Thierry Miquel, Murat Bronz, Clément Roos. Trajectory Optimization for Fully Actuated Hexacopters : Enhancing Maneuverability and Applications. 14th ANNUAL INTERNATIONAL MICRO AIR VEHICLE CONFERENCE AND COMPETITION, Sep 2023, Aachen, Germany. ⟨hal-04396701⟩
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