Design of a high performance quad-rotor robot based on a layered real-time system architecture

  • Authors:

  • Jonas Witt;Björn Annighöfer;Ole Falkenberg;Uwe Weltin

  • Affiliations:

  • Institute for Reliability Engineering, Hamburg University of Technology, Hamburg, Germany;Institute of Aircraft Systems Engineering, Hamburg University of Technology, Hamburg, Germany;Institute for Reliability Engineering, Hamburg University of Technology, Hamburg, Germany;Institute for Reliability Engineering, Hamburg University of Technology, Hamburg, Germany

  • Venue:
  • ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
  • Year:
  • 2011

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Abstract

This work presents the results of an effort to create a high performance quad-rotor MAV named iQCopter for research in the field of swarm robotics and vision-based autonomous operation. During the design, navigational and computational capabilities have been of major priority. A distinctive feature of the iQCopter is its layered system architecture using a comparably powerful, hard real-time capable x86-computer even in the innermost control loop for maximum transparency and ease of use while a simple fixed-point microcontroller provides a low-level sensor interface and a fallback solution for safety reasons. Finally, a successful system identification and subsequent design of an aggressive H∞ controller are presented as benchmark cases to demonstrate the performance of the design.