Design and control of an indoor micro quadrotor

被引：449

作者：

Bouabdallah, S ^{[1
]}

Murrieri, P ^{[1
]}

Siegwart, R ^{[1
]}

机构：

[1] Swiss Fed Inst Technol, Autonomous Syst Lab, Lausanne, Switzerland

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1302409

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Recent progress in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL1 systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring and building exploration. In this paper we describe the approach that our lab(2) has taken to micro VTOL evolving towards full autonomy, and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4(3).

引用

页码：4393 / 4398

页数：6