2A1-H07 Development of airplane type UAV capable of hovering vertically to drop object(Aerial Robot and Mechatronics(1))
Kohei MIYAZONO, Tatsunori Yuhara, Yusi NAKAMURA, Taro Imamura · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
This paper describes our development of small indoor Unmanned Aerial Vehicle (UAV) for the 7^ Student Indoor Flying Robot Contest. We designed a conventional airplane type UAV which is capable of dropping object to a designated point by hovering vertically. For this purpose, an attitude-control algorithm and a control system were developed. In order to estimate attitude quaternion from on-board accelerometer and gyroscope output, Extended Kalman Filter is used as the attitude-control algorithm. Then, in order to keep hovering using its control surface, the control system was designed and implemented with a microcontroller. The flight test revealed that the UAV is capable of vertical hovering in order to perform the missions required in the contest.