Development of a Micro Quad-Rotor UAV for Monitoring an Indoor Environment
Abstract
The purpose of this paper is to develop a micro UAV (Unmanned Aerial Vehicle) as the platform for monitoring an indoor environment, more specifically, a quad-rotor aircraft that has strong advantages of its small size, stable hovering and precise flight. To begin with, we analyze the dynamics of a quad-rotor aircraft, and introduce control strategies based on the PD control. Then, the developed micro quad-rotor UAV, equipped with micro controllers, various sensors, and a wireless camera, is presented and is compared with the DraganFlyer commercial quad-rotor aircraft. Finally, experimental results are also provided so as to illustrate stable flight performances.
- Publication:
-
Lecture Notes in Computer Science
- Pub Date:
- 2009
- DOI:
- 10.1007/978-3-642-03983-6_30
- Bibcode:
- 2009LNCS.5744..262M