Attitude Pointing of Overactuated Tilt-Quadrotor Robot Using Camera/IMU

2020 ◽  
Author(s):  
Shuai Qian ◽  
Jingjing Cheng ◽  
Dabo Xu
Keyword(s):  
Quadrotor Robot

An indirect adaptive neural control of a visual-based quadrotor robot for pursuing a moving target

2015 ◽  
Vol 59 ◽  
pp. 290-302 ◽  
Author(s):  
Masoud Shirzadeh ◽  
Abdollah Amirkhani ◽  
Aliakbar Jalali ◽  
Mohammad R. Mosavi
Keyword(s):  
Neural Control ◽  
Moving Target ◽  
Adaptive Neural Control ◽  
Quadrotor Robot

Motion planning of a quadrotor robot game using a simulation-based projected policy iteration method

2019 ◽  
Vol 20 (4) ◽  
pp. 525-537
Author(s):  
Li-dong Zhang ◽  
Ban Wang ◽  
Zhi-xiang Liu ◽  
You-min Zhang ◽  
Jian-liang Ai
Keyword(s):  
Motion Planning ◽  
Iteration Method ◽  
Policy Iteration ◽  
Simulation Based ◽  
Quadrotor Robot

scholarly journals A Survey of Modelling and Identification of Quadrotor Robot

2014 ◽  
Vol 2014 ◽  
pp. 1-16 ◽  
Author(s):  
Xiaodong Zhang ◽  
Xiaoli Li ◽  
Kang Wang ◽  
Yanjun Lu
Keyword(s):  
Nonlinear Model ◽  
Model Identification ◽  
Unstable System ◽  
Forward Flight ◽  
Strongly Coupled ◽  
Fundamental Research ◽  
Practical Model ◽  
Quadrotor Robot ◽  
Configuration Methodology

A quadrotor is a rotorcraft capable of hover, forward flight, and VTOL and is emerging as a fundamental research and application platform at present with flexibility, adaptability, and ease of construction. Since a quadrotor is basically considered an unstable system with the characteristics of dynamics such as being intensively nonlinear, multivariable, strongly coupled, and underactuated, a precise and practical model is critical to control the vehicle which seems to be simple to operate. As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors. This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.

scholarly journals The UJI Aerial Librarian Robot: A Quadcopter for Visual Library Inventory and Book Localisation

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1079
Author(s):  
Ester Martinez-Martin ◽  
Eric Ferrer ◽  
Ilia Vasilev ◽  
Angel P. del Pobil
Keyword(s):  
Computer Vision ◽  
Control Strategy ◽  
Visual Inspection ◽  
Confined Spaces ◽  
The Past ◽  
Optical Character ◽  
Visual Markers ◽  
Routine Tasks ◽  
Quadrotor Robot ◽  
Recognition Technique

Over time, the field of robotics has provided solutions to automate routine tasks in different scenarios. In particular, libraries are awakening great interest in automated tasks since they are semi-structured environments where machines coexist with humans and several repetitive operations could be automatically performed. In addition, multirotor aerial vehicles have become very popular in many applications over the past decade, however autonomous flight in confined spaces still presents a number of challenges and the use of small drones has not been reported as an automated inventory device within libraries. This paper presents the UJI aerial librarian robot that leverages computer vision techniques to autonomously self-localize and navigate in a library for automated inventory and book localization. A control strategy to navigate along the library bookcases is presented by using visual markers for self-localization during a visual inspection of bookshelves. An image-based book recognition technique is described that combines computer vision techniques to detect the tags on the book spines, followed by an optical character recognizer (OCR) to convert the book code on the tags into text. These data can be used for library inventory. Misplaced books can be automatically detected, and a particular book can be located within the library. Our quadrotor robot was tested in a real library with promising results. The problems encountered and limitation of the system are discussed, along with its relation to similar applications, such as automated inventory in warehouses.

Quadrotor robot based on disturbance observer control

2014 ◽  
Author(s):  
Prawin Jingjit ◽  
Chowarit Mitsantisuk ◽  
Jantanee Rungrangpitayagon ◽  
Nithiphat Teerakawanich
Keyword(s):  
Disturbance Observer ◽  
Quadrotor Robot

Successive Loop Closure Based Controller Design for an Autonomous Quadrotor Vehicle

2013 ◽  
Vol 483 ◽  
pp. 361-367 ◽  
Author(s):  
Ansu Man Singh ◽  
Deok Jin Lee ◽  
Dong Pyo Hong ◽  
Kil To Chong
Keyword(s):  
Dynamic Model ◽  
Pid Controller ◽  
Systematic Approach ◽  
Controller Design ◽  
The Self ◽  
Control Loop ◽  
Loop Closure ◽  
Self Tuning ◽  
Quadrotor Robot ◽  
Flying Robot

In this paper, a new systematic approach for designing a self-tuning controller for an autonomous quadrotor robot is introduced.In order to design the self-tuning controller, first, a linearized dynamic model of a quadrotor about hovering positions is derived, and thenthe successive loop closure approach is applied to design the self-tuning PID controller of the attitude, altitude and velocity for the autonomous flying capability of the flying robot. In addition, nonlinearities of the design model are also imposed in the control loop by takinginto account the saturation of actuators. For the verification of the effectiveness of the proposed controller, various simulation studiesare carried out in terms of the accuracy and robustness.

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