Development of a Small Flying Robot with Rotary Wings and Semi-autopilot System

Abstract

Nowadays, a small flying robot such as small/micro air vehicle can do very important role for human’s reconnaissance mission. Small hovering robot can approach dangerous area where human cannot go. In addition, comparing with fixed wing type, it can watch continuously a certain fixed point by hovering in specific area. The main purpose of this research is to develop the hovering small flying robot with semi autopilot system. It consists of one rotor blade set, electronic speed controller, electronic motor and battery etc. In addition, IMU sensor (AHRS, Attitude and Heading Reference System) and GPS sensor are integrated for semi autopilot system and anti-toque and directional control system. The weight of IMU sensor is 9g. The small lightweight IMU is composed of accelerometers, magnetometers and gyroscope sensors. Hovering robot with about 500~550mm diameter has outer protection frame with carbon/epoxy rods. IMU sensor is installed at the center of gravity of the flying robot. An electric hardware control system is designed for the possible auto-pilot control. The total weight of the designed flying robot is about 1,000g and it can fly about 10 minutes. Stabilizer installed to increase the hovering stability. A PID control system for semi-autopilot was developed and installed. The hovering and simple loitering were successful with semi-autopilot system. By extending this work, we are going to develop a small flying robot with full-autopilot system that can capture and transmit real time video image.