Design and Control of a Quad-Rotor Flying Robot For Aerial Surveillance
Design and Control of a Quad-Rotor Flying Robot For Aerial Surveillance
复制标题
空中监控四旋翼飞行机器人的设计与控制
DOI：
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复制
发表时间：
2006
期刊：
影响因子：
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通讯作者：
M. Abidin
中科院分区：
文献类型：
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作者：
K. Weng;M. Abidin
本文介绍了四旋翼 VTOL（垂直起降）飞行机器人作为实验飞行平台的控制。飞行机器人将由飞行员使用无线电频率进行控制。机器人上安装了无线闭路电视摄像机，可以执行空中监视和检查操作。由于飞行机器人固有的不稳定行为，PID控制系统借助加速度计、指南针传感器和陀螺仪传感器来实现飞行机器人的稳定并使其更容易被操作者控制。加速度计、罗盘传感器和陀螺仪传感器之间的融合是通过互补滤波器完成的。
This paper presents the control of a quad-rotor VTOL (vertical take off and landing) flying robot as an experimental flying platform. The flying robot is to be controlled by a pilot using radio frequency. A wireless CCTV camera is installed on the robot to perform aerial surveillance and inspection operation. Due to the naturally unstable behavior of the flying robot, PID control system is implemented with the aid of accelerometer, compass sensor and gyro sensors to stabilize the flying robot and make it easier to be controlled by the operator. The fusion between the accelerometer, compass sensor and also the gyro sensors is done by the complementary filter.