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GÁBRLÍK, P. KŘÍŽ, V. VOMOČIL, J. ŽALUD, L.
Original Title
The Design and Implementation of Quadrotor UAV
Type
journal article in Scopus
Language
English
Original Abstract
The design and implementation of the four-rotor aerial mobile robot called quadrotor is described in this paper. The beginning is focused on the mechanical construction of the robot body and the hardware implementation of main control board. Next part describes the simplified mathematical model of the quadrotor.. On the base of created model, state space controller was designed and implemented. As a result, every quadrotor axis is controlled independently as in the case of use separated PI or PD controllers. The last part of the paper deals with a software solution. This can be divided into three parts: the first part describes application for onboard microcontroller, the second part focuses on the solution of base station. The special part of software, which solves the localization of the quadrotor using camera, is described at the end of the article.
Keywords
quadrotor; UAV; stabilization; state-space controller; computer vision
Authors
GÁBRLÍK, P.; KŘÍŽ, V.; VOMOČIL, J.; ŽALUD, L.
RIV year
2014
Released
30. 7. 2014
Publisher
Springer International Publishing
Location
Switzerland
ISBN
2194-5357
Periodical
Advances in Intelligent Systems and Computing
Year of study
5
Number
316
State
Swiss Confederation
Pages from
47
Pages to
56
Pages count
10
URL
http://link.springer.com/chapter/10.1007%2F978-3-319-10783-7_5
BibTex
@article{BUT101078, author="Petr {Gábrlík} and Vlastimil {Kříž} and Jan {Vomočil} and Luděk {Žalud}", title="The Design and Implementation of Quadrotor UAV", journal="Advances in Intelligent Systems and Computing", year="2014", volume="5", number="316", pages="47--56", doi="10.1007/978-3-319-10783-7\{_}5", issn="2194-5357", url="http://link.springer.com/chapter/10.1007%2F978-3-319-10783-7_5" }