Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHz

We describe an efficient, reliable, and robust four-rotor flying platform for indoor and outdoor navigation. Currently, similar platforms are controlled at low frequencies due to hardware and software limitations. This causes uncertainty in position control and unstable behavior during fast maneuver...

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Bibliographic Details
Published inProceedings 2007 IEEE International Conference on Robotics and Automation pp. 361 - 366
Main Authors Gurdan, D., Stumpf, J., Achtelik, M., Doth, K.-M., Hirzinger, G., Rus, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2007
Subjects
Brushless DC motors
Energy efficiency
Frequency
Hardware
Lighting control
Navigation
Position control
Robot control
Robustness
Uncertainty
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ISBN1424406013
9781424406012
ISSN1050-4729
DOI10.1109/ROBOT.2007.363813

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Summary:We describe an efficient, reliable, and robust four-rotor flying platform for indoor and outdoor navigation. Currently, similar platforms are controlled at low frequencies due to hardware and software limitations. This causes uncertainty in position control and unstable behavior during fast maneuvers. Our flying platform offers a 1 kHz control frequency and motor update rate, in combination with powerful brushless DC motors in a light-weight package. Following a minimalistic design approach this system is based on a small number of low-cost components. Its robust performance is achieved by using simple but reliable highly optimized algorithms. The robot is small, light, and can carry payloads of up to 350g
ISBN:1424406013
9781424406012
ISSN:1050-4729
DOI:10.1109/ROBOT.2007.363813