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UAV fully-actuated: modelo, control y comparación con configuración coplanaria

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UAV fully-actuated: modelo, control y comparación con configuración coplanaria

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dc.contributor.author González-Morgado, Antonio es_ES
dc.contributor.author Álvarez-Cía, Carlos es_ES
dc.contributor.author Heredia Benot, Guillermo es_ES
dc.contributor.author Ollero Baturone, Aníbal es_ES
dc.date.accessioned 2023-11-14T08:15:26Z
dc.date.available 2023-11-14T08:15:26Z
dc.date.issued 2023-09-29
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/199594
dc.description.abstract [EN] With the development of aerial robotics, new multi-rotor platforms, known as fully-actuated, have appeared. These platforms have the ability to move without tilting the platform. This article presents a comparison in terms of motion capabilities between a coplanar hexarotor, standard configuration, and a tilted-propellers hexarotor, fully-actuated configuration. For this purpose, this paper presents the design, modelling and control of both configurations. Both platforms are compared with different trajectories through simulations and experiments. Also, unique capabilities of the fully-actuated platform, such as the ability to hover at a tilt angle, are shown. Finally, the use of the fully-actuated platform for visual inspection of bridge beams is included. Video of the paper: https://youtu.be/d95Qvz5hba4 es_ES
dc.description.abstract [ES] Con el desarrollo de la robótica aérea han aparecido nuevas plataformas de multirotores de actuación completa (fully-actuated en inglés), las cuales tienen la capacidad de desplazarse sin inclinar la plataforma. Este artículo presenta una comparación en cuanto a capacidades de movimiento entre un hexarotor de rotores coplanarios, configuración estándar, y un hexarotor de rotores inclinados, configuración fully-actuated. Para ello, se presenta el diseño, modelo y control de ambas configuraciones. Tras el montaje de las plataformas, se comparan con diferentes trayectorias, mediante simulaciones y experimentos. Así mismo, se muestran capacidades exclusivas de la plataforma fully-actuated, como la capacidad de mantenerse en hover con un ángulo de inclinación. Finalmente, se presenta la aplicación de la plataforma fully-actuated para inspección visual de techos de puentes. Vídeo del artículo:  https://youtu.be/d95Qvz5hba4 es_ES
dc.description.sponsorship Este trabajo ha sido parcialmente financiado por los proyectos ROBMIND (PDC2021-121524-I00) y HAERA (PID2020-119027RB-I00), financiados por el Ministerio de Economía, Industria y Competitividad, y los proyectos AERIAL-CORE (H2020-2019-871479) y AEROTRAIN (MSCA-ITN-2020-953454), financiados por la Comisión Europea. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Compartir igual (by-nc-sa) es_ES
dc.subject UAVs es_ES
dc.subject Aerial robotics es_ES
dc.subject Robotics es_ES
dc.subject Modeling es_ES
dc.subject Robótica aérea es_ES
dc.subject Robótica es_ES
dc.subject Modelado es_ES
dc.title UAV fully-actuated: modelo, control y comparación con configuración coplanaria es_ES
dc.title.alternative UAV Fully-Actuated: model, control and comparison with coplanar configuration es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2023.19348
dc.relation.projectID info:eu-repo/grantAgreement/EC/H2020/871479/EU//AERIAL-CORE es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-119027RB-I00/ES/SISTEMA ROBOTICO HIBRIDO AEREO-ACUATICO PARA MUESTREO, MONITORIZACION E INTERVENCION/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/EC/H2020/953454/EU//AEROTRAIN es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI//PDC2021-121524-I00 es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation González-Morgado, A.; Álvarez-Cía, C.; Heredia Benot, G.; Ollero Baturone, A. (2023). UAV fully-actuated: modelo, control y comparación con configuración coplanaria. Revista Iberoamericana de Automática e Informática industrial. 20(4):401-411. https://doi.org/10.4995/riai.2023.19348 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2023.19348 es_ES
dc.description.upvformatpinicio 401 es_ES
dc.description.upvformatpfin 411 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 20 es_ES
dc.description.issue 4 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\19348 es_ES
dc.contributor.funder European Commission es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
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