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Development and Testing of Small Aerial Vehicles with Redundant Number of Rotors


Cvišić, Igor; Petrović, Ivan
Development and Testing of Small Aerial Vehicles with Redundant Number of Rotors // Proceedings of IEEE Eurocon 2013 / Kuzle, Igor ; Capuder, Tomislav ; Pandžić, Hrvoje (ur.).
Zagreb, Hrvatska: Institute of Electrical and Electronics Engineers, 2013. str. 1921-1926 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Development and Testing of Small Aerial Vehicles with Redundant Number of Rotors

Autori
Cvišić, Igor ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of IEEE Eurocon 2013 / Kuzle, Igor ; Capuder, Tomislav ; Pandžić, Hrvoje - : Institute of Electrical and Electronics Engineers, 2013, 1921-1926

ISBN
978-1-4673-2231-7

Skup
IEEE Eurocon 2013

Mjesto i datum
Zagreb, Hrvatska, 01-04.07.2013.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
UAV; sensor fusion; multi-loop control; redundant number of rotors

Sažetak
Multiple rotor Unmanned Aerial Vehicles (UAVs) are becoming ubiquitous due to simplicity of their construction, implementation and maintenance. Such UAVs are able to hover, take off and land vertically. In addition, it is relatively straightforward to design an on-board autopilot. In comparison with classical helicopters, multi- rotor aircrafts provide less dangerous testbed in urban and cluttered environments due to their smallsize and light-weight blades. In this paper, we present two multi-rotor aircraft prototypes with payload up to one kilogram. In order to achieve greater payload capabilities and increase robustness due to motor failures, the presented prototypes have redundant number of rotors, one has six and other eight rotors. Furthermore, we propose algorithms for data fusion from gyroscopes, accelerometers, magnetometers and GPS for orientation and position estimation. Finally, control algorithms are designed in a multi-loop fashion and successfully tested on the prototypes. The developed UAVs are experimentally tested in real world outdoor environment conditions.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )
ACROSS

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb