Publication result detail

The Design and Implementation of Quadrotor UAV

GÁBRLÍK, P.; KŘÍŽ, V.; VOMOČIL, J.; ŽALUD, L.

Original Title

The Design and Implementation of Quadrotor UAV

English Title

The Design and Implementation of Quadrotor UAV

Type

Scopus Article

Original Abstract

The design and implementation of the four-rotor aerial mobile robot called quadrotor is described in this paper. The beginning is focused on the mechanical construction of the robot body and the hardware implementation of main control board. Next part describes the simplified mathematical model of the quadrotor.. On the base of created model, state space controller was designed and implemented. As a result, every quadrotor axis is controlled independently as in the case of use separated PI or PD controllers. The last part of the paper deals with a software solution. This can be divided into three parts: the first part describes application for onboard microcontroller, the second part focuses on the solution of base station. The special part of software, which solves the localization of the quadrotor using camera, is described at the end of the article.

English abstract

The design and implementation of the four-rotor aerial mobile robot called quadrotor is described in this paper. The beginning is focused on the mechanical construction of the robot body and the hardware implementation of main control board. Next part describes the simplified mathematical model of the quadrotor.. On the base of created model, state space controller was designed and implemented. As a result, every quadrotor axis is controlled independently as in the case of use separated PI or PD controllers. The last part of the paper deals with a software solution. This can be divided into three parts: the first part describes application for onboard microcontroller, the second part focuses on the solution of base station. The special part of software, which solves the localization of the quadrotor using camera, is described at the end of the article.

Keywords

quadrotor; UAV; stabilization; state-space controller; computer vision

Key words in English

quadrotor; UAV; stabilization; state-space controller; computer vision

Authors

GÁBRLÍK, P.; KŘÍŽ, V.; VOMOČIL, J.; ŽALUD, L.

RIV year

2015

Released

30.07.2014

Publisher

Springer International Publishing

Location

Switzerland

ISBN

2194-5357

Periodical

Advances in Intelligent Systems and Computing

Volume

5

Number

316

State

Swiss Confederation

Pages from

47

Pages to

56

Pages count

10

URL

http://link.springer.com/chapter/10.1007%2F978-3-319-10783-7_5

BibTex

@article{BUT101078,
  author="Petr {Gábrlík} and Vlastimil {Kříž} and Jan {Vomočil} and Luděk {Žalud}",
  title="The Design and Implementation of Quadrotor UAV",
  journal="Advances in Intelligent Systems and Computing",
  year="2014",
  volume="5",
  number="316",
  pages="47--56",
  doi="10.1007/978-3-319-10783-7\{_}5",
  issn="2194-5357",
  url="http://link.springer.com/chapter/10.1007%2F978-3-319-10783-7_5"
}