μAV - Design and Implementation of an Open Source Micro Quadrotor
نویسنده
چکیده
This paper presents the design of μAV, a palm size open source micro quadrotor constructed on a single Printed Circuit Board. The aim of the micro quadrotor is to provide a lightweight (approximately 86g) and cheap robotic research platform that can be used for a range of robotic applications. One possible application could be a cheap test bed for robotic swarm research. The goal of this paper is to give an overview of the design and capabilities of the micro quadrotor. The micro quadrotor is complete with a 9 Degree of Freedom Inertial Measurement Unit, a Gumstix Overo Computer-On-Module which can run the widely used Robot Operating System (ROS) for use with other research algorithms.
منابع مشابه
The Design and Implementation of a Quadrotor Flight Controller Using the QUEST Algorithm
Formally posed in 1965, the problem of optimal attitude estimation from vector measurements has been a hot topic of research in the aerospace community. This paper provides a survey of open source quadrotor helicopter autopilots that demonstrates that the Unmanned Aerial Vehicle community has largely ignored the optimal attitude estimation work to date. Furthermore, the effectiveness of a quadr...
متن کاملDesign of an Intelligent Controller for Station Keeping, Attitude Control, and Path Tracking of a Quadrotor Using Recursive Neural Networks
During recent years there has been growing interest in unmanned aerial vehicles (UAVs). Moreover, the necessity to control and navigate these vehicles has attracted much attention from researchers in this field. This is mostly due to the fact that the interactions between turbulent airflows apply complex aerodynamic forces to the system. Since the dynamics of a quadrotor are non-linear and the ...
متن کاملThe Pixhawk Open-source Computer Vision Framework for Mavs
Unmanned aerial vehicles (UAV) and micro air vehicles (MAV) are already intensively used in geodetic applications. State of the art autonomous systems are however geared towards the application area in safe and obstacle-free altitudes greater than 30 meters. Applications at lower altitudes still require a human pilot. A new application field will be the reconstruction of structures and building...
متن کاملRobust Control of a Quadrotor
In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...
متن کاملVisual-Inertial Navigation for a Camera-Equipped 25 g Nano-Quadrotor
We present a 25 g nano-quadrotor equipped with a micro PAL-camera and wireless video transmitter, with which we demonstrate autonomous hovering and figure flying using a visual-inertial SLAM system running on a ground-based laptop. To our knowledge this is the lightest quadrotor capable of visual-inertial navigation with off-board processing. Further we show autonomous flight with external pose...
متن کامل