Control of Attitude Angle for a Tilted Quadrotor
Atsushi Arakawa, Tomohiko Hasegawa, Keigo Watanabe, Isaku Nagai · 2018
Unmanned aerial vehicles (UAVs) have been studied as a means of information gathering in the event of a disaster. Among them, vertical take-off and landing (VTOL) type UAVs called quadrotor attract high attention. A quadrotor has four rotors and has the feature of controlling the attitude and the position by changing the number of revolutions in each rotor. In addition, it can perform VTOL and hovering, and is relatively superior to other UAVs in maneuverability. However, it is inferior to fixed-wing type UAVs in flight speed and cruising distance. In the event of a disaster like an earthquake that causes major damage to the environment, it needs not only take-off and landing in narrow space but also quick and widespread information gathering. In this research, we aim to develop the quadrotor that can perform not only VTOL and hovering, but also high-speed flight and long distance flight by mounting a tilt mechanism to each rotor in the conventional quadrotor. In this paper, we describe the outline of a tilted quadrotor and the control method of attitude angles. In addition, we report real machine experiments to verify the usefulness of the aircraft.