Toward Obstacle Avoidance on Quadrotors
作者： Samir Bouabdallah , Marcelo Becker , V Perrot , Roland Siegwart
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摘要: 3 EPFL - CH 1015 Lausanne, Switzerland Abstract: OS4 (Omnidirectional Stationary Flying OUtstretched Robot) is an electrically powered four-rotor miniature helicopter developed towards fully autonomous operation in indoor/outdoor environments. The major goal of this research the development and implementation active control system for a quadrotor helicopter. However, one has to consider seriously design aspect order get rid hardware limitations achieve simplification. Controlling VTOL (Vertical Taking-Off Landing) flying robot basically dealing with highly unstable dynamics strong axes coupling. In addition this, any additional on-board sensor increases total weight therefore decreases its time. It necessary find balance between electronics This paper focuses obstacle avoidance controller using four ultra-sound (US) sensors detecting obstacles US controlling altitude. facilitate implementation, we simulation tool Matlab/Simulink accurate dynamic model OS4. allowed us simulate improve controllers different modeled environments applying approaches. real was carried out hovering state results were encouraging.
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