Omnidirectional powered vehicle incorporating a thruster orientation control unit

Abstract

The invention relates to a propelled vehicle comprising: a chassis; at least two propellers mounted on the chassis, each propeller being mounted movably in rotation on the chassis about two orthogonal axes of rotation and each propeller being capable of exerting a thrust in a direction defined by the angle of rotation of the propeller about each of these axes of rotation; at least two motor systems each associated with one of the propellers and capable of driving a rotation of said propeller about one and / or the other of said axes of rotation;a motor systems control unit, characterized in that, upon receiving a navigation instruction, the control unit is arranged to determine, from the navigation instruction, a propulsion vector for each of the thrusters comprising a first component called force generating a thrust corresponding to a force setpoint of the navigation instruction, a second component called moment generating a thrust corresponding to a moment setpoint of the navigation instruction and a third component of propulsion offset whose value depends on the vehicle's attitude; the control unit being arranged to control the motor systems associated with each thruster as a function of said propulsion vector determined for that thruster Figure to be published with the abbreviation: Fig. 1;