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Design and Control of a Miniature Omnidirectional MAV
Omnidirectional MAVs can demonstrate compelling aerial behaviors in flight, due to their ability to take any 6D pose in space. Several types of omnidirectional platforms have emerged in recent years, demonstrating feasibility of such a system, and focusing on interaction with the environment. This p
The aim of this project is to develop a very small omnidirectional MAV for use in a controlled environment (external motion capture), for the purpose of visual entertainment. The design concept should be motivated by the dimensions and capabilities of a hummingbird. The scope of the project includes the complete design and prototyping of the flying system, as well as implementation of a control framework, and trajectory generation for visually compelling performance.
The aim of this project is to develop a very small omnidirectional MAV for use in a controlled environment (external motion capture), for the purpose of visual entertainment. The design concept should be motivated by the dimensions and capabilities of a hummingbird. The scope of the project includes the complete design and prototyping of the flying system, as well as implementation of a control framework, and trajectory generation for visually compelling performance.
- Literature and conceptual design study of a miniature omnidirectional OMAV.
- Complete mechanical prototype of flying system.
- Implement a controller for an omnidirectional MAV, test in simulation.
- Design of trajectories and testing of the complete system.
- Detailed evaluation of results and performance.
- Literature and conceptual design study of a miniature omnidirectional OMAV. - Complete mechanical prototype of flying system. - Implement a controller for an omnidirectional MAV, test in simulation. - Design of trajectories and testing of the complete system. - Detailed evaluation of results and performance.
- High motivation and interest in the topic.
- Methodological and goal-oriented working behaviour.
- Strong background in mechanical design.
- Experience programming in c++, knowledge of ROS.
- High motivation and interest in the topic. - Methodological and goal-oriented working behaviour. - Strong background in mechanical design. - Experience programming in c++, knowledge of ROS.
Karen Bodie (karen.bodie@mavt.ethz.ch) and Mina Kamel (mina.kamel@wysszurich.ch). Your application should include a brief motivational statement, your transcript of records, and your CV.
Karen Bodie (karen.bodie@mavt.ethz.ch) and Mina Kamel (mina.kamel@wysszurich.ch). Your application should include a brief motivational statement, your transcript of records, and your CV.