Development of a controller enabling a Tilting Rotor Hexacopter to move omnidirectionally on a wall

Abstract

The goal of this bachelor thesis is to enable a special unmanned aerial vehicle (UAV) to make a transition from flying in the air to driving on a wall. For this, the Voliro hexacopter has been used as platform. Thanks to its tiltable rotors it can produce forces and moments in all directions and therefore hover in any arbitrary orientation. It is able to drive on the wall by flying vertically while at the same time pressing itself against the wall. In comparison to the general control approach, a Decoupled Wall Controller, where every motor has a clear task assigned, has been successfully implemented and tested. With it, an improved precision at the price of a loss of e ciency could be achieved.