Towards Intelligent Miniature Flying Robots
This paper presents a practical method for small-scale VTOL3 design. It helps for elements selection and dimensioning. We apply the latter to design a fully autonomous quadrotor with numerous innovations in design methodology, steering and propulsion achieving 100% thrust margin for 30 min autonomy. The robot is capable of rotational and translational motion estimation. Finally, we derive a nonlinear dynamics simulation model, perform a simulation with a PD test controller and test successfully the robot in a real flight. We are confident that “OS4” is a significant progress towards intelligent miniature quadrotors.
KeywordsVTOL design quadrotor quadrotor modelling
Unable to display preview. Download preview PDF.
- 2.Pounds P, Mahony R, Gresham J, Corke P, Roberts J (2004) Towards Dynamically-Favourable Quad-Rotor Aerial Robots. Australasian Conference on Robotics and Automation, Canberra, AustraliaGoogle Scholar
- 3.Ruffier F, Franceschini N (2004) Visually Guided Micro-Aerial Vehicle: Automatic Take Off, Terrain Following, Landing and Wind Reaction. IEEE International Conference on Robotics and Automation, New Orleans, USAGoogle Scholar
- 4.Kroo I, Prinz F, Shantz M, Kunz P, Fay G, Cheng S, Fabian T, Partridge C (2000) The Mesicopter: A Miniature Rotorcraft Concept Phase II Interim Report. Stanford University, USAGoogle Scholar
- 5.Bouabdallah S, Siegwart R (2005) Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor. IEEE International Conference on Robotics and Automation, Barcelona, SpainGoogle Scholar
- 6.Bouabdallah S, Murrieri P, Siegwart R (2004) Design and Control of an Indoor Micro Quadrotor. IEEE International Conference on Robotics and Automation, New Orleans, USAGoogle Scholar
- 7.Prouty R.W (2002) Helicopter Performance, Stability, and Control. Krieger Publishing CompanyGoogle Scholar
- 8.Bouabdallah S, Murrieri P, and Siegwart R (2003) Autonomous Robots Joural Mars 2005Google Scholar
- 10.Müllhaupt P (1999) Analysis and control of underactuated mechanical nonminimum-phase systems. PhD Thesis, EPLF, SwitzerlandGoogle Scholar
- 11.Olfati-Saber R (2001) Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles. PhD Thesis, MIT, USAGoogle Scholar