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Conference Papers Year : 2015

Ground Control of a Hybrid Tricopter

Brigitte d'Andréa-Novel
Hugues Mounier


Optimizing energy consumption of Micro Aerial Vehicles is one of several problems that remains to be solved in the domain of UAVs. In a recent work, a novel quadrotor was introduced that was able, when possible, to roll on the ground thanks to a tilting propeller and caster wheels. In the following work, we build upon this idea with a trirotor helicopter where all the rotors are independently tilting. This grants our model a greater maneuverability both in flight and on the ground. We validate in this paper the flatness-based control approach by showing the ability of our UAV to follow arbitrary trajectories on the ground.


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hal-02332413 , version 1 (24-10-2019)



Etienne Servais, Brigitte d'Andréa-Novel, Hugues Mounier. Ground Control of a Hybrid Tricopter. International Conference on Unmanned Aircraft Systems (ICUAS), Jun 2015, Denver, United States. ⟨10.1109/icuas.2015.7152382⟩. ⟨hal-02332413⟩
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