- Bachelor Thesis
Rights / licenseIn Copyright - Non-Commercial Use Permitted
The ”Voliro” system developed during a one-year student project at ETH Zurich, is a novel concept of a rotary-wing UAV, designed as a multicopter with a classical planar configuration, whereby the thrust motors can be tilted around their axes. This allows the system to decouple position and orientation as well as move omnidirectionally. This bachelor thesis adapts the allocation method used within the project to tackle specific critical orientations for which the general method cannot stabilize the system. The proposed strategy was to identify all critical orientations, then utilize a switch mechanism to change the general allocation to a specialized one, which can stabilize the system. This allocation strategy was tested for feasibility in simulation and experimentally validated on the real life system. Show more
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ContributorsExaminer: Popovic, Marija
Examiner: Fekry Kamel, Mina S.
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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