Recent Advances in Quadrotor Capabilities

摘要：

This video features advanced control capabilities for a quadrotor helicopter. We use an Ascending Technologies Hummingbird quadrotor 1 in conjunction with a Vicon 2 motion capture system in a flight arena 3 . The video shows a single quadrotor flying through windows with only three inches of clearance on any side of the platform and perching on vertical, declined, and inclined walls. Robustness to failed perching is demonstrated when it recovers to a stable hover from a failed perching attempt. Next, the video shows control along optimal trajectories through desired waypoints which includes flying through static and thrown hoops. Seen next is a gripper designed for the quadrotor to pickup objects and perch on horizontal surfaces. Finally, multiple quadrotors are shown cooperatively manipulating payloads to which they are rigidly attached.

作者: Daniel Mellinger Nathan Michael Michael Shomin Vijay Kumar

作者单位: GRASP Lab,University of Pennsylvania

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2964-2965

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）