Design and Development of a Class of Rotorcraft-Based UAV
International Journal of Advanced Robotic Systems
We discuss the development of a miniquadrotor 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
... ntal 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 miniquadrotor 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.