Development of a Micro Quad-Rotor UAV for Monitoring an Indoor Environment

  • Authors:

  • B. C. Min;C. H. Cho;K. M. Choi;D. H. Kim

  • Affiliations:

  • Department of Electrical Engineering, Kyung Hee University, Yongin-Si, Korea 449-701;Department of Electrical Engineering, Kyung Hee University, Yongin-Si, Korea 449-701;Department of Electrical Engineering, Kyung Hee University, Yongin-Si, Korea 449-701;Department of Electrical Engineering, Kyung Hee University, Yongin-Si, Korea 449-701

  • Venue:
  • Proceedings of the FIRA RoboWorld Congress 2009 on Advances in Robotics
  • Year:
  • 2009

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Abstract

The purpose of this paper is to develop a micro UAV (Unmanned Aerial Vehicle) as the platform for monitoring an indoor environment, more specifically, a quad-rotor aircraft that has strong advantages of its small size, stable hovering and precise flight. To begin with, we analyze the dynamics of a quad-rotor aircraft, and introduce control strategies based on the PD control. Then, the developed micro quad-rotor UAV, equipped with micro controllers, various sensors, and a wireless camera, is presented and is compared with the DraganFlyer commercial quad-rotor aircraft. Finally, experimental results are also provided so as to illustrate stable flight performances.