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Intelligent Service Robotics
Erschienen in: Intelligent Service Robotics 2/2017

16.03.2017 | Review Article

Multi-rotor drone tutorial: systems, mechanics, control and state estimation

verfasst von: Hyunsoo Yang, Yongseok Lee, Sang-Yun Jeon, Dongjun Lee

Erschienen in: Intelligent Service Robotics | Ausgabe 2/2017

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Abstract

We present a tutorial introduction to the multi-rotor unmanned aerial vehicles, often simply referred as drones. We first explain typical configuration, components and construction of the drones. We then provide basic kinematic and dynamic modeling of drones and their principle of flight. Some representative motion control techniques are then presented, which take into account the issue of under-actuation of the drones. State estimation problem of the drones, that is crucial for their proper flying, yet, should be done only by using onboard sensors and their sensor fusion, is explained. Some emerging research directions requiring capability beyond typical drones are also mentioned.
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Nächster Artikel Development of JARoW-II active robotic walker reflecting pelvic movements while walking

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Metadaten
Titel
Multi-rotor drone tutorial: systems, mechanics, control and state estimation
verfasst von
Hyunsoo Yang
Yongseok Lee
Sang-Yun Jeon
Dongjun Lee
Publikationsdatum
16.03.2017
Verlag
Springer Berlin Heidelberg
Erschienen in
Intelligent Service Robotics / Ausgabe 2/2017
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-017-0224-y

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