Large object pushing via a direct longitudinally-actuated unmanned Tri-TiltRotor

The original application of large object pushing with an Unmanned Aerial Vehicle platform is the subject of this paper. The utilization of an unmanned Tri-TiltRotor is proposed for this application, innovatively employing its direct longitudinal actuation capabilities to attain a large force exertion-capable aerial platform. Via the longitudinal tilting of the aerial vehicle´s main rotors, the forward-projected force can be applied via a platform-mounted frame onto a large object, and bring it into motion. Concurrently, moment-compensation, achieved by a properly designed control synthesis exploiting the additional actuation capabilities of the platform, effectively regulates the attitude at stable hovering. Experimental results are provided, demonstrating the effectiveness of the implemented approach.