Title :
Design and control of an indoor micro quadrotor
Author :
Bouabdallah, Samir ; Murrieri, Pierpaolo ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland
fDate :
26 April-1 May 2004
Abstract :
Progresses in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring and building exploration. In this paper we describe the approach that our lab has taken to micro VTOL evolving towards full autonomy, and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.
Keywords :
aerospace robotics; microrobots; mobile robots; building exploration; indoor micro quadrotor; micro VTOL system; miniature flying robot; small area monitoring; Actuators; Aircraft navigation; Aircraft propulsion; Biomimetics; Cameras; Helicopters; Laboratories; Military aircraft; Remotely operated vehicles; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1302409
