Design of Quadrotors Autonomous Flight Control System Based on BeagleBone Black

摘要：

　　A problem of quadrotors autonomous flight control system based on BeagleBone Black(BBB)high-performance embedded computer is investigated in this paper.BBB is chosen as the main control computer equipped with Wi-Fi receiver,GPS,and camera,while STMS320F28335 is used as the attitude control processer equipped with IMU,optical flow sensor,and infrared range finder.The software system is made up of a cascaded(inner-outer loop)attitude control based on optical flow sensor and ground station control system based on robot operating system(ROS)network.This system enhances quadrotors ability of performing complex tasks and enables it autonomy.Indoor hovering tests prove that attitude control algorithm has a stable performance.

关键词： Quadrotor Autonomous flight BeagleBone black(BBB) Robot operating system ROS

作者: Pei-pei Ni Qiang Lyu Guo-sheng Wang Kui-feng Su Feng Guo

作者单位: Department of Control Engineering,Academy of Armored Force Engineering,No.21,Dujiakan,Fengtai District,Beijing City,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 591-599

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）