Development of a Micro Quad-Rotor UAV for Monitoring an Indoor Environment

  • B. C. Min
  • C. H. Cho
  • K. M. Choi
  • D. H. Kim
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5744)


The purpose of this paper is to develop a micro UAV (Unmanned Aerial Vehicle) as the platform for monitoring an indoor environment, more specifically, a quad-rotor aircraft that has strong advantages of its small size, stable hovering and precise flight. To begin with, we analyze the dynamics of a quad-rotor aircraft, and introduce control strategies based on the PD control. Then, the developed micro quad-rotor UAV, equipped with micro controllers, various sensors, and a wireless camera, is presented and is compared with the DraganFlyer commercial quad-rotor aircraft. Finally, experimental results are also provided so as to illustrate stable flight performances.


UAV quad-rotor aircraft hovering DraganFlyer 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Castillo, P., Lozano, R., Druz, A.: Modelling and Control of Mini-Flying Machines, 1st edn. Springer, London (2005)Google Scholar
  2. 2.
    Lara, D., Sanchez, A., Lozano, R., Castillo, P.: Real-Time Embedded Control System for VTOL Aircrafts: Application to stabilize a quad-rotor helicopter. In: 2006 IEEE Symposium Intelligent Control, pp. 2553–2558 (2006)Google Scholar
  3. 3.
    Valavanis, K.P.: Advances in Unmanned Aerial Vehicles, 1st edn. Springer, Heidelberg (2007)CrossRefzbMATHGoogle Scholar
  4. 4.
    Erginer, B., Altuģ, E.: Modeling and PD Control of a Quadrotor VTOL Vehicle. In: IEEE explore of Intelligent Vehicles Symposium, pp. 894–899 (2007)Google Scholar
  5. 5.
    Park, S., Won, D.H., Kang, M.S., Kim, T.J., Lee, H.G.: RIC (Robust Internal-loop Compensator) based flight control of a quad-rotor type UAV. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1015–1020 (2005)Google Scholar
  6. 6.
    Bouadi, H., Bouchoucha, M., Tadjine, M.: Sliding Mode Control based on Backstepping Approach for an UAV Type-Quadrotor. International Journal of Applied Mathematics and Computer Sciences 4(1), 12–17 (2008)Google Scholar
  7. 7.
    Kuo, B.C., Golnaraghi, F.: Automatic Control Systems, 8th edn. John Wiley & Sons. Inc., Chichester (2003)Google Scholar
  8. 8.
    Bouabdallah, S., Murrieri, P., Siegwart, R.: Design and control of an indoor micro quadrotor. In: Proceedings of IEEE International Conference on Robotics and Automation, vol. 5, pp. 4393–4398 (2004)Google Scholar
  9. 9.
    Ledin, J.: Simulation Engineering, 1st edn. CMP Books (2001)Google Scholar
  10. 10.
    Lillywhite, K., Lee, D.J., Tippetts, B., Fowers, S., Dennis, A., Nelson, B., Archibald, J.: An embedded vision system for an unmanned four-rotor helicopter. Robotic Vision Laboratory, Department of Electrical and Computer Engineering, BrighamYoung UniversityGoogle Scholar
  11. 11.

Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • B. C. Min
    • 1
  • C. H. Cho
    • 1
  • K. M. Choi
    • 1
  • D. H. Kim
    • 1
  1. 1.Department of Electrical EngineeringKyung Hee UniversityYongin-SiKorea

Personalised recommendations