Abstract
The study reviews the control, balance and orientation angles of a quadrotor flying robot.
A test platform is designed and used for the quadrotor flying robot. The orientation data that
is acquired by the Inertial Measurement Unit (IMU) which is externally mounted to the
quadrotor flying robot is transferred through wireless communication to the computer. The
transferred data is analyzed by Matlab and Python programming languages. Thus, Real Time
behaviors of the remotely controlled system is analyzed. The hardware consists of 9-Degrees
of Freedom Orientation Sensor, Xbee Explorer Modules, Walkera Ufo 5#. In the study, on/off
control of quadrotor flying robot is successfully completed.
Keywords
Balance Orientation Quadrotor flying robot Xbee Matlab Python
References
- Amir M., Abbass V. (2008): “Modeling of Quadrotor Helicopter Dynamics”, Smart Manufacturing Application, ICSMA,International Conference, sf. 100-105.
- Austin R. (2010): “Unmanned Aircraft Systems. Uavs Design, Development and Deployment”.Wiley Publication, sf. 6-7.
- Bouabdallah S., Murrieri P., Siegwart R. (2004): “Design and Control of an Indoor Micro Quadrotor”, Proceedings of the 2004 IEEE, International Conference on Robotics and Automation, New Orleans, LA.
- Bouabdallah S., Siegwart R. (2007): “Full Control of Quadrotor”, Intelligent Robots and Systems, IROS, IEEE/RSJ International Conference, sf. 153-158.
- Bhargava A. (2008). “Development of a Quadrotor Testbed for Control and Sensor Development”, sf. 50-52.
- Castillo P., Lozano R., Dzul A. E. (2005): “Modeling and Control of Mini-Flying Machines, Advances in Industrial Control”. Springer Publication, sf. 187.
- DiCesare Antonio (2013): “Design Optimization of a Quad-Rotor Capable of Autonomous Flight”, Doktora Tezi.
- Dubois E., Gray P., Nigay L. (2010): “The Engineering of Mixed Reality Systems”. Springer- Verlag London, sf. 221.
- Gupte S., Mohandas P. I. T., Conrad J. M. (2012):”A Survey of Quadrotor Unmanned Aerial Vehicle”, Southeastcon, Proceedings of IEEE, sf. 1-6.
- Hoffmann G., Rajnarayan D. G., Waslander S. L., Dostal D., Jang J. S., Tomlin C. J. (2004): “The Stanford Testbed of Autonomous Rotorcraft for Multi Agent Control (STARMAC)”, Digital Avionics Systems Conference, DASC 04 IEEE, Cilt 2.
- Leishman J. G. (2006). “Principles of Helicopter Aerodynamics”, İkinci Basım, Cambridge Aerospace Series.
- Patel C. A. (2006): “Building a Testbed for Mini Quadrotor Unmanned Aerial Vehicle With Protective Shroud”, Wichita State University, Doktora Tezi.
- Raza S. A. (2010): “Design and Control of a Quadrotor Unmanned Aerial Vehicle”, Electrical and Computer Engineering, School of Information Technology and Engineering, University of Ottawa, sf. 6.
- Smith S. W. (2003): “Digital Signal Processing: A Practical Guide for Engineers and Scientists”. Newnes Press, sf. 277-282.
Abstract
Bu çalışma, dört rotorlu uçan robotun kontrolünü, dengesini ve yönelim açılarını incelemektedir. Dört rotorlu uçan robot için test platformu geliştirilmiş ve kullanılmıştır. Uçan robota harici takılan Ataletsel Ölçüm Birimi (AÖB) yardımıyla alınan oryantasyon verileri, kablosuz olarak bilgisayara taşınmaktadır. Taşınan veriler Matlab ve Python programlama dillerinde analiz edilmektedir. Böylece, sistemin kumandadan aldığı hareket komutlarını çalıştırırken gösterdiği gerçek zamanlı davranışlar analiz edilmektedir. Uygulama için dokuz serbestlik derecesine sahip bir oryantasyon sensörü, Xbee Explorer modülleri, Walkera Ufo 5# dört rotorlu uçan robotu kullanılmıştır. Çalışmada dört rotorlu uçan robotun aç/kapa kontrolü de başarıyla tamamlanmıştır
References
- Amir M., Abbass V. (2008): “Modeling of Quadrotor Helicopter Dynamics”, Smart Manufacturing Application, ICSMA,International Conference, sf. 100-105.
- Austin R. (2010): “Unmanned Aircraft Systems. Uavs Design, Development and Deployment”.Wiley Publication, sf. 6-7.
- Bouabdallah S., Murrieri P., Siegwart R. (2004): “Design and Control of an Indoor Micro Quadrotor”, Proceedings of the 2004 IEEE, International Conference on Robotics and Automation, New Orleans, LA.
- Bouabdallah S., Siegwart R. (2007): “Full Control of Quadrotor”, Intelligent Robots and Systems, IROS, IEEE/RSJ International Conference, sf. 153-158.
- Bhargava A. (2008). “Development of a Quadrotor Testbed for Control and Sensor Development”, sf. 50-52.
- Castillo P., Lozano R., Dzul A. E. (2005): “Modeling and Control of Mini-Flying Machines, Advances in Industrial Control”. Springer Publication, sf. 187.
- DiCesare Antonio (2013): “Design Optimization of a Quad-Rotor Capable of Autonomous Flight”, Doktora Tezi.
- Dubois E., Gray P., Nigay L. (2010): “The Engineering of Mixed Reality Systems”. Springer- Verlag London, sf. 221.
- Gupte S., Mohandas P. I. T., Conrad J. M. (2012):”A Survey of Quadrotor Unmanned Aerial Vehicle”, Southeastcon, Proceedings of IEEE, sf. 1-6.
- Hoffmann G., Rajnarayan D. G., Waslander S. L., Dostal D., Jang J. S., Tomlin C. J. (2004): “The Stanford Testbed of Autonomous Rotorcraft for Multi Agent Control (STARMAC)”, Digital Avionics Systems Conference, DASC 04 IEEE, Cilt 2.
- Leishman J. G. (2006). “Principles of Helicopter Aerodynamics”, İkinci Basım, Cambridge Aerospace Series.
- Patel C. A. (2006): “Building a Testbed for Mini Quadrotor Unmanned Aerial Vehicle With Protective Shroud”, Wichita State University, Doktora Tezi.
- Raza S. A. (2010): “Design and Control of a Quadrotor Unmanned Aerial Vehicle”, Electrical and Computer Engineering, School of Information Technology and Engineering, University of Ottawa, sf. 6.
- Smith S. W. (2003): “Digital Signal Processing: A Practical Guide for Engineers and Scientists”. Newnes Press, sf. 277-282.
Details
| Other ID | JA78DH42RG |
|---|---|
| Journal Section | Research Article |
| Authors | |
| Publication Date | January 1, 2014 |
| Published in Issue | Year 2014 Volume: 16 Issue: 46 |
Cite
Dokuz Eylül Üniversitesi, Mühendislik Fakültesi Dekanlığı Tınaztepe Yerleşkesi, Adatepe Mah. Doğuş Cad. No: 207-I / 35390 Buca-İZMİR.