I4Copter: an adaptable and modular quadrotor platform
I4Copter: an adaptable and modular quadrotor platform
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I4Copter：适应性强的模块化四旋翼平台
DOI：
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发表时间：
2011
期刊：
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通讯作者：
Wolfgang Schröder
中科院分区：
文献类型：
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作者：
Peter Ulbrich;R. Kapitza;C. Harkort;Reiner N. Schmid;Wolfgang Schröder
四旋翼直升机是具有垂直起降能力的微型飞行器，通过改变四个固定螺距螺旋桨的旋转速度来控制。由于它们相当简单的机械设计，它们作为各种研究项目的平台越来越受欢迎。尽管他们中的大多数人都非常成功，但他们通常是为特定目的量身定制的，这使得很难利用他们进行进一步的研究和教育。在本文中，我们提出了新颖的设计I4Copter四旋翼。它的开发目的是为针对实时和嵌入式系统、分布式系统、机器人和控制论等跨领域挑战的各种研究和教育项目提供稳定的演示四旋翼平台。我们平台的模块化和开放式架构允许特定于应用程序的细粒度扩展、适应和替换软件和硬件组件。软件模块之间严格的时间和空间隔离支持安全的可扩展性。我们通过两个不同的跨领域用例验证了我们的方法：一个用于实现轨迹跟踪的模块化控制算法的评估平台，以及一个对瞬态硬件错误具有弹性的实现。
Quadrotor helicopters are micro air vehicles with vertical take-off and landing capabilities controlled by varying the rotation speed of four fixed pitch propellers. Due to their rather simple mechanical design they have grown to popularity as platform for various research projects. Despite most of them being individually highly successful, they are typically tailored to a specific purpose making it hard to utilise them for further research and education. In this paper, we present the novel design of the I4Copter quadrotor. It has been developed to provide a stable demonstration quadrotor platform for various kinds of research and education projects targeting cross-field challenges in real-time and embedded systems, distributed systems, robotics and cybernetics. The modular and open architecture of our platform allows an application-specific, fine-grained extension, adaption and replacement of software and hardware components. The safe extensibility is supported by strict temporal and spatial isolation between the software modules. We validated our approach by two distinct cross-field use cases: an evaluation platform for modularised control algorithms enabling trajectory tracking and an implementation that is resilient to transient hardware errors.