Unmanned aerial vehicles (UAVs) are autonomous or remotely guided aircraft, which can potentially carry out a wide range of tasks. Multirotor type of UAV has unique ability to perform vertical take-off and landing (VTOL), a stationary and low-speed flight where certain configurations can achieve very complex and precise movements. Therefore, they are suitable for performing tasks such as delivery of first aid kit, firefighting, infrastructure inspection, aerial video, and many others. In this chapter, a generalized control allocation scheme for a multirotor UAV is presented, which describes the mapping of rotor angular velocities to the control vector of the aircraft. It enables control and design of multirotor configurations with diverse geometrical arrangement and characteristics of the propulsion subsystem depending on the task, which multirotor has to carry out. The inverted scheme, which is implemented as a motor mixer, maps the control inputs into a set of aircraft actuator outputs.
Part of the book: Drones
Unmanned aerial vehicles (UAVs) have proven to be an advanced tool for a variety of applications in the civilian and military sectors. Different categories of UAVs are used in various missions and are also the subject of numerous researches. Due to their characteristics and potential in specific conditions, multirotor UAVs imposes itself as a solution for many tasks, including transport. This chapter presents a conceptual solution of autonomous cargo transportation where the primary research objective is the design of a heavy lift multirotor UAV system. The process of designing a multirotor UAV that can carry heavy lift cargo is quite challenging due to many parameters and constraints. Five selected series of electric propulsion systems are analyzed, with different multirotor configurations, and results are graphically displayed for payloads from 10 kg up to 100 kg.
Part of the book: Self-Driving Vehicles and Enabling Technologies