BioTetra: A Bioinspired Multi-Rotor Aerial Vehicle
Binbin Li, Duo Wang, Lei Ma · 2019
Applications of multi-rotor aerial robots are progressively expanding into various industries. However, due to its actuators configuration, standard multi-rotor vehicles flexibility is greatly limited. In this manuscripts, we proposed a bioinspired multi-rotor aerial vehicle, called BioTetra, a class of aircraft capable of vector-flying and omnidirectional movement. The BioTetra vehicle, which finds inspiration in the configuration layout of the organic molecules(CH4), exploits its stability of the regular tetrahedral structure. The new abilities of the BioTetra vehicle not only improve flight efficiency, but also expand the reachable set. First, the mechanical design with regular tetrahedron configuration layout is introduced. Then, a quaternion-based attitude controller is designed to track a full pose trajectory in space. The virtual simulation of the aerial vehicle verifies the feasibility of the new structure and the effectiveness of the control strategy.