Design and Development of a Class of Rotorcraft-Based UAV

International Journal of Advanced Robotic Systems

关键词: Quadrotor;    Coaxial Quadrotor;    Collision Detection;    Kinect Sensor;   

DOI  :  10.5772/54885

学科分类：自动化工程

来源: InTech

【 摘 要 】

We discuss the development of a mini-quadrotor system and coaxial quadrotor system for indoor and outdoor applications. The attitude control system consists of a stability augmentation system and a modern control approach. To perform an experimental flight test, a PID controller is used to validate our aerodynamic modelling and basic electronics hardware is developed in a simple configuration. We use a low-cost 100 Hz AHRS for inertial sensing, infrared (IR) sensors for horizontal ranging, an ultrasonic sensor for ground ranging and an AVR microcontroller for the flight control computer. A ground control system is developed for the monitoring and gathering of flight data. Based on the modelling and simulation data of the mini-quadrotor system, a flight test is performed and automatic hovering ability is implemented. A collision detection system is one of the important parts of an indoor and outdoor flight test. To overcome the payload limitation of the mini-quadrotor system, we design a coaxial quadrotor ...

【 授权许可】

CC BY