Abstract
In this paper, we mainly discussed a novel design of the micro UAV especially the unconventional cross coupling with four rotors between the aerodynamic design and the design of the flight control system. The vehicle has two motors rotate counter clockwise while the other two rotate clockwise to cancel the gyroscopic effects and aerodynamic torques. Besides vertical taking-off and landing capabilities, the flyer can fly and hover freely inside buildings. It will integrate state-of-the-art technology in low-power wireless communications components, micro control sensing modules, and wireless optical surveillance components for indoor surveillance applications.
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