Title :
Multiple Air Robotics Indoor Testbed
Author :
Cui, Yinan ; Inanc, Tamer
Author_Institution :
Electr. & Comput. Eng. Dept., Univ. of Louisville, Louisville, KY, USA
Abstract :
This paper describes the design and construction of a Multiple Air Robotics Indoor Testbed (MARIT) in detail. MARIT is an indoor experimental platform for developing and validating research work in cooperative control, trajectory generation and computational intelligence for multiple unmanned aerial vehicles (UAVs). MARIT is instrumental to capture the 6 DOF (degree of freedom) dynamic position information of the small air robots fast and accurately in the 3D test domain. Several difficulties developing the testbed such as connecting the RC (radio-controlled) transmitter to the computer, modeling the UAVs in Vicon softwares and system identification of the inner control system of the UAV are clearly explained.
Keywords :
aerospace control; autonomous aerial vehicles; mobile robots; telerobotics; trajectory control; 3D test domain; MARIT; UAV; Vicon softwares; computational intelligence; cooperative control; degree of freedom; dynamic position information; indoor experimental platform; inner control system; multiple air robotics indoor testbed; multiple unmanned aerial vehicles; trajectory generation; Attitude control; Computers; Mathematical model; Optical transmitters; Robots; Software; Trajectory; MAV; UAV; control; quadrotor; testbed;
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
DOI :
10.1109/CCDC.2012.6244557
