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Erschienen in:
2006 | OriginalPaper | Buchkapitel
Towards Intelligent Miniature Flying Robots
verfasst von : Samir Bouabdallah, Roland Siegwart
Erschienen in: Field and Service Robotics
Verlag: Springer Berlin Heidelberg
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This paper presents a practical method for small-scale VTOL
3
design. It helps for elements selection and dimensioning. We apply the latter to design a fully autonomous quadrotor with numerous innovations in design methodology, steering and propulsion achieving 100% thrust margin for 30 min autonomy. The robot is capable of rotational and translational motion estimation. Finally, we derive a nonlinear dynamics simulation model, perform a simulation with a PD test controller and test successfully the robot in a real flight. We are confident that “OS4” is a significant progress towards intelligent miniature quadrotors.