Abstract
Abstract In this paper, we describe the design and performance of a prototype multi-rotor unmaned aerial ve-hicle(UAV) platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in blue-tooth communication environments. Although there has been a fair amount of study of free-flying UAV with multi-rotors, the more recent trend has been to outfit hexarotor helicopter with gimbal to support various services. This paper introduces the hardware and software systems toward very compact and autonomous hexarotors, where they can perform search, rescue, and surveillance missions without external assistance sys-tems like ground station computers, high-performance remote control devices or vision system. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, mathematical modeling and simulation in the helicopter. Furthermore, the hexarotor helicopter with im-plemented IMU is connected with a micro controller unit(MCU)(ARM-cortex) board. The micro-controller is able to command the rotational speed of the rotors and to get the measurements of the IMU as input signals. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other. Key Words : Hexarotor, Bluetooth, Inertial Measurement Unit(IMU), UAV, Simulation.Received: Feb. 11, 2015Revised : Apr. 1, 2015Accepted: May. 22, 2015
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