Abstract
We discuss the development of a mini- quadrotor system and coaxial quadrotor system for indoor and outdoor applications. The attitude control system consists of a stability augmentation system and a modern control approach. To perform an experimental flight test, a PID controller is used to validate our aerodynamic modelling and basic electronics hardware is developed in a simple configuration. We use a low-cost 100 Hz AHRS for inertial sensing, infrared (IR) sensors for horizontal ranging, an ultrasonic sensor for ground ranging and an AVR microcontroller for the flight control computer. A ground control system is developed for the monitoring and gathering of flight data. Based on the modelling and simulation data of the mini-quadrotor system, a flight test is performed and automatic hovering ability is implemented. A collision detection system is one of the important parts of an indoor and outdoor flight test. To overcome the payload limitation of the mini- quadrotor system, we design a coaxial quadrotor system and we use a Kinect sensor as the collision detect sensor. Kinect sensors give 3D depth information and the collision detection system uses that information.
Highlights
Quadrotor system development has become more popular in academic research
The flight control computer (FCC) handles the speed of motors and the ground control system (GCS) receives the data from quadrotor and gives a command to it
An IR sensor is used for the simple collision detection system based on AVR FCC, but an additional embedded system is needed for the collision detection system using the Kinect sensor
Summary
Quadrotor system development has become more popular in academic research. Several techniques and methods for modelling, simulation and control design have been developed [1,2,3,4,5]. Since the quadrotor is an unstable system, the first issue in the design of an autonomous system is the implementation of attitude stabilization control. Depth information from the Kinect sensor is used to measure the distance between the coaxial quadrotor and collision. The ground control system takes the distance information from coaxial quadrotor and displays the warning message. We show the modelling and control of a coaxial quadrotor and collision avoidance system using a Kinect sensor. 2. Quadrotor A basic quadrotor system consists of air frame, propulsion, flight control computer (FCC) and ground control system (GCS) components. The FCC handles the speed of motors and the GCS receives the data from quadrotor and gives a command to it. The automatic mode is for autonomous flight based on a GPS signal
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