Design and control of a central-rotor type pentacopter design and implementation capable of contacting to and moving on wall surface

Abstract

This paper explores the design and control of a center-rotor type pentacopter that can move in contact with a wall to accurately measure cracks in a concrete outer wall. A center rotor pentacopter is a type of pentacopter that uses an electric ducted fan (EDF) motor and two axis servomotors at the center of gravity of the quadcopter. Center-rotor pentacopters are characterized by the ability to generate thrust in the desired direction using two servomotors and an EDF motor to maintain a stable attitude without tilting or leaning during flight. In this paper, the mathematical modeling of a center-rotor pentacopter was verified through simulation and compared with a regular quadcopter. We also simulated the thrust of the center rotor to see how much it could withstand when a sudden gust of wind occurred. Then, we built a pentacopter and measured the cracks and calculated the width of the cracks through the actual pentacopter in addition to flight experiments. The results showed the advantages and applicability of the pentacopter.