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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