Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller
Dongjae Lee,Sunwoo Hwang,Jeonghyun Byun,Seung Jae Lee,H. Jin Kim,Dongjae Lee,Sunwoo Hwang,Jeonghyun Byun,Seung Jae Lee,H. Jin Kim
Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot capable of both perching and unperching autonomously on/from a ferromagnetic surface during flight, and a switching controller to avoid rotor saturation and mitigate overshoot during transition between free-flight and pe...
