Design and Control of a Quad-Rotor Flying Robot For Aerial Surveillance

Author

Weng, Kong Wai ; Abidin, Mohamad Shukri b Zainal

Author_Institution

Center for Artificial Intell. & Robotic, Univ. Teknol. Malaysia, Kuala Lumpur

fYear

2006

fDate

27-28 June 2006

Firstpage

173

Lastpage

177

Abstract

This paper presents the control of a quad-rotor VTOL (vertical take off and landing) flying robot as an experimental flying platform. The flying robot is to be controlled by a pilot using radio frequency. A wireless CCTV camera is installed on the robot to perform aerial surveillance and inspection operation. Due to the naturally unstable behavior of the flying robot, PID control system is implemented with the aid of accelerometer, compass sensor and gyro sensors to stabilize the flying robot and make it easier to be controlled by the operator. The fusion between the accelerometer, compass sensor and also the gyro sensors is done by the complementary filter.

Keywords

aerospace robotics; closed circuit television; control system synthesis; inspection; surveillance; telerobotics; three-term control; PID control system; accelerometer; aerial surveillance; compass sensor; gyro sensors; inspection; quad-rotor flying robot; radio frequency; vertical take off and landing; wireless CCTV camera; Accelerometers; Control systems; Radio control; Radio frequency; Robot sensing systems; Robot vision systems; Sensor fusion; Sensor systems; Surveillance; Wireless sensor networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Research and Development, 2006. SCOReD 2006. 4th Student Conference on

Conference_Location

Selangor

Print_ISBN

978-1-4244-0526-8

Electronic_ISBN

978-1-4244-0527-5

Type

conf

DOI

10.1109/SCORED.2006.4339333

Filename

4339333