Dynamical modeling and experimental validation of a novel V8 octorotor flying robot

摘要

Application of multirotor flying robots to aerial photography and similar tasks has been steadily rising. A new configuration of octorotor flying robot is proposed in this study that offers many advantages over traditional designs. Euler-Lagrange formalism is used to develop dynamical model of the vehicle. The model is experimentally validated using laboratory data and a recursive modification method based on genetic algorithm optimization. It is shown that derived model can provide a reliable estimate of the robot's dynamics and characteristics.