Fully Autonomous Quadrotor: A Testbed Platform for Aerial Robotics Tasks

Author

Guimarães, Joao P F ; Laura, Tania L. ; Sanca, Armando S. ; Schildt, Alessandro N. ; De-Deus, Michel S. ; Alsina, Pablo J. ; Da-Silva, Andre T. ; Medeiros, Adelardo A D

Author_Institution

Fed. Inst. of Educ. Sci. & Technol. of Rio Grande do Norte (IFRN), Apodi, Brazil

fYear

2012

fDate

16-19 Oct. 2012

Firstpage

68

Lastpage

73

Abstract

This paper presents a strategy for an attitude and altitude control of a fully autonomous quad rotor helicopter. The hardware and software architecture of the proposed system is based on master-slave paradigm, where the master device is an embedded PC allowing high degree of autonomy. This paper focuses on the low level stabilization control. The stabilization approach is based on a transformation of the input variables of the system to perform a decoupled control. Experimental results of attitude and altitude control of the quad rotor prototype are shown.

Keywords

aerospace robotics; attitude control; control engineering computing; helicopters; software architecture; stability; aerial robotics tasks; altitude control; decoupled control; embedded PC; fully autonomous quadrotor helicopter; hardware architecture; software architecture; stabilization control; testbed platform; Attitude control; Base stations; Brushless motors; Propellers; Pulse width modulation; Robot sensing systems; Altitude; Attitude; Decoupled stabilization control; Quadrotor; UAV;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian

Conference_Location

Fortaleza

Print_ISBN

978-1-4673-4650-4

Type

conf

DOI

10.1109/SBR-LARS.2012.18

Filename

6363321