This paper presents experimental studies of a novel hexarotor Unmanned Aerial Vehicle(UAV), 2Y hexarotors having tolerance for any arbitrary single rotor fault. The 2Y hexarotor was previously proposed in one or our previous works, and we presented a structure that has high flight efficiency with fault tolerance to rotor failures. In this paper, we build a prototype and demonstrate the robustness and flight properties of the 2Y hexarotor. In particular, we newly decide design parameters of a 2Y hexarotor considering the limitation caused by our production process while fulfilling the required performance. Then, we propose the controller that makes the 2Y hexarotor hover even with a rotor failure. Finally, the fault tolerance of the designed 2Y hexarotor is verified in our experimental testbed.
各種検索
サポート
ヘルプ