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

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Advances in Robotics (FIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5744))

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Abstract

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.

This work was supported in part by the Korea Science and Engineering Foundation (KOSEF) grant funded by the Korea government (MEST) (R01-2008-000-20352-0).

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© 2009 Springer-Verlag Berlin Heidelberg

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Min, B.C., Cho, C.H., Choi, K.M., Kim, D.H. (2009). Development of a Micro Quad-Rotor UAV for Monitoring an Indoor Environment. In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_30

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  • DOI: https://doi.org/10.1007/978-3-642-03983-6_30

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03982-9

  • Online ISBN: 978-3-642-03983-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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