|Title||Omni-Plus-Seven (O7+): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-directional Thrusters|
|Publication Type||Conference Paper|
|Year of Publication||2020|
|Authors||Hamandi, M, Sawant, K, Tognon, M, Franchi, A|
|Conference Name||2020 Int. Conf. on Unmanned Aircraft Systems|
|Conference Location||Athens, Greece|
The aim of this paper is to present the design of a novel omnidirectional Unmanned Aerial Vehicle (UAV) with seven uni-directional thrusters, called O+7. The paper formally defines the O+ design for a generic number of propellers and presents its necessary conditions; then it illustrates a method to optimize the placement and orientation of the platform’s propellers to achieve a balanced O+ design. The paper then details the choice of the parameters of the O7+ UAV, and highlights the required mechanical and electrical components. The resultant platform is tested in simulation, before being implemented as a prototype. The prototype is firstly static-bench tested to match its nominal and physical models, followed by hovering tests in multiple orientations. The presented prototype shows the ability to fly horizontally, upside down and at a tilted angle.