Abstract
Recent advancement in micro-electronic technology makes the development of quadrotor fully possible. This paper elaborates on the complete designing process of a quadrotor control platform. Firstly a hardware structure with a microcontroller and embedded sensors is reported. Then through the implementation of a linear complementary filter, the real-time attitude estimation of the quadrotor is realized. Furthermore, aiming at the outdoor environment navigation, a barometer and a Global Positioning System (GPS) are also integrated within this platform. A multisensory data fusion algorithm is then proposed to combine these sensors for the outdoor navigation. Finally, a group of PID controllers are designed to stabilize the attitude and position. The experiment results demonstrate the capability of this platform to navigate autonomously through user-defined waypoints.
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Acknowledgments
This work was funded by the special development fund of Shanghai Zhangjiang Hi-Tech Industrial Development Zone (No.201411-PD-JQ-B108-009) and Open Foundation of the State Key Laboratory of Fluid Power Transmission and Control (No. GZKF-201510).
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Fang, J., Ye, X., Dong, W., Sheng, X., Zhu, X. (2016). Navigation and Control for an Unmanned Aerial Vehicle. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_33
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DOI: https://doi.org/10.1007/978-3-319-43506-0_33
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