2A2-L10 Development of Four Rotor Flying Robot(Aerial Robot and Mechatronics(2))
Shoji Machida, Shohei Noda, Hiroyuki Masuta, Hun‐ok Lim · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
This study presents the development of a flying robot with on-board sensors. This flying robot consists of four rotors, a leg system, and a body system. Ultrasonic sensors are attached to the body to measure flight height, and an acceleration sensor, a gyro sensor, and a geomagnetic sensor are attached to the body to measure rotation angles and angular velocities. A GPS sensor is used to detect the present position. To control the flying robot, a PID controller and PWM signals are used. Through three different flight experiments, the effectiveness of the mechanism and the control system was verified.