Autonomous Perching of an Omni-Directional Unmanned Aerial Vehicle
Christopher Baird, Scott Nokleby · 2020
A novel omni-directional multi-rotor prototype with an attached gripper mechanism called the OmniRaptor is presented. The OmniRaptor has the capability to land on inclined members in a controlled, stable manner. The control system for fully autonomous waypoint guided omnidirectional flight is presented. The results of test flights are shown demonstrating autonomous take-off, flying, and landing with secure grasping for both a level and an inclined beam. The results show that the OmniRaptor's design and controller allow it to fly and land at arbitrary attitudes which is not possible for traditional quad-rotors.