A Novel Miniature Omnidirectional Multi-Rotor Blimp

This paper presents a novel miniature omnidirectional multi-rotor blimp (MOMB) designed for applications such as photography, surveillance, and scientific research. The MOMB consists of two stacked balloons in a flattened ellipsoid, making its flight endurance longer than most miniature aircrafts, enhancing its stability and increasing its loading ability. Two pairs of integrated vector propulsion units are installed on the blimp at equal distances, enabling it to spin and move omnidirectionally. The blimp can communicate with the ground station and receive location information from the Vicon system. Flight control is achieved using a PID controller, which has been verified through simulation. Indoor and outdoor flight experiments were conducted to demonstrate the efficiency of the blimp system design.