Summary
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.
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© 2006 Springer-Verlag Berlin Heidelberg
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Bouabdallah, S., Siegwart, R. (2006). Towards Intelligent Miniature Flying Robots. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_36
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DOI: https://doi.org/10.1007/978-3-540-33453-8_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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