Publication

Quadrotor Using Minimal Sensing For Autonomous Indoor Flight

Dario Floreano, Jean-Christophe Zufferey, Timothy Stirling, James Roberts
2007
Conference Papers

Abstract

This paper presents a Miniature Aerial Vehicle (MAV) capable of hands-off autonomous operation within indoor environments. Our prototype is a Quadrotor weighing approximately 600g, with a diameter of 550mm, which carries the necessary electronics for stability control, altitude control, collision avoidance and anti-drift control. This MAV is equipped with three rate gyroscopes, three accelerometers, one ultrasonic sensor, four infrared sensors, a high-speed motor controller and a flight computer. Autonomous flight tests have been carried out in a 7x6-m room.

Official source

https://infoscience.epfl.ch/entities/publication/7a9010c9-c192-4e9e-b1ec-1e338e49d31e

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Dario Floreano, Jean-Christophe Zufferey, Timothy Stirling, James Roberts
2007
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/7a9010c9-c192-4e9e-b1ec-1e338e49d31e

About this result

Related concepts (29)

Motor controller

A motor controller is a device or group of devices that can coordinate in a predetermined manner the performance of an electric motor. A motor controller might include a manual or automatic means for starting and stopping the motor, selecting forward or reverse rotation, selecting and regulating the speed, regulating or limiting the torque, and protecting against overloads and electrical faults. Motor controllers may use electromechanical switching, or may use power electronics devices to regulate the speed and direction of a motor.

Brushless DC electric motor

A brushless DC electric motor (BLDC), also known as an electronically commutated motor, is a synchronous motor using a direct current (DC) electric power supply. It uses an electronic controller to switch DC currents to the motor windings producing magnetic fields that effectively rotate in space and which the permanent magnet rotor follows. The controller adjusts the phase and amplitude of the DC current pulses to control the speed and torque of the motor.

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A gyroscope (from Ancient Greek γῦρος gŷros, "round" and σκοπέω skopéō, "to look") is a device used for measuring or maintaining orientation and angular velocity. It is a spinning wheel or disc in which the axis of rotation (spin axis) is free to assume any orientation by itself. When rotating, the orientation of this axis is unaffected by tilting or rotation of the mounting, according to the conservation of angular momentum.

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