Control of Autonomous Quadrotor Helicopters in High Speed Flight

摘要：

Quadrotor helicopters are one of the most popular unmanned aerial vehicles (UAVs) in these days. In hover condition, they can be easily controlled by simple PID controllers because of their symmetrical shape and their simple dynamics. To fly in high speed, however, they have to incline their body intensely and their dynamics and geometry become somehow complex. In this paper, inertial measurement unit (IMU) software and autonomous hover control are developed at first as a testbed for high speed flight control development. They are evaluated in flight experiment. After that, problems associated with high speed flight are mentioned and autonomous control for high speed flight is investigated.

关键词： quadrotor helicopter unmanned aerial vehicle control inertial measurement unit

作者: Ryo Hashimoto Takeshi Tsuchiya

作者单位: Department of Aeronautics and Astronautics, School of Engineering, University of Tokyo Japan, 113–86 Department of Aeronautics and Astronautics, School of Engineering, University of TokyoJapan, 113–865

会议类型: 国际会议

会议名称: 2011年亚太航空航天技术学术会议(APISAT 2011)

会议地点: 澳大利亚

会议语种:英文

页码: 1-8

在线出版日期: 2011-02-28（万方平台首次上网日期，不代表论文的发表时间）