Documenti accessibili
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Informazioni generali |
| Autore |
Kim, Gyou Beom; Nguyen, Trung Kien; Budiyono, Agus; Park, Jung Keun; Yoon, Kwang Joon; Shin, Jinok |
| Pubblicato |
InTech Open Access Publisher, 2013
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| Abstract |
We discuss the development of a miniquadrotor
system and coaxial quadrotor system for
indoor and outdoor applications. The attitude control
system consists of a stability augmentation system and a
modern control approach. To perform an experimental
flight test, a PID controller is used to validate our
aerodynamic modelling and basic electronics hardware is
developed in a simple configuration. We use a low‐cost
100 Hz AHRS for inertial sensing, infrared (IR) sensors
for horizontal ranging, an ultrasonic sensor for ground
ranging and an AVR microcontroller for the flight control
computer. A ground control system is developed for the
monitoring and gathering of flight data. Based on the
modelling and simulation data of the mini‐quadrotor
system, a flight test is performed and automatic hovering
ability is implemented. A collision detection system is one
of the important parts of an indoor and outdoor flight
test. To overcome the payload limitation of the miniquadrotor
system, we design a coaxial quadrotor system
and we use a Kinect sensor as the collision detect sensor.
Kinect sensors give 3D depth information and the
collision detection system uses that information. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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