Detail publikačního výsledku

The Design and Implementation of Quadrotor UAV

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

Originální název

The Design and Implementation of Quadrotor UAV

Anglický název

The Design and Implementation of Quadrotor UAV

Druh

Článek Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

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

Rok RIV

2015

Vydáno

30.07.2014

Nakladatel

Springer International Publishing

Místo

Switzerland

ISSN

2194-5357

Periodikum

Advances in Intelligent Systems and Computing

Svazek

5

Číslo

316

Stát

Švýcarská konfederace

Strany od

47

Strany do

56

Strany počet

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"
}