1. A quad-rotor system for driving and flying missions by tilting mechanism of rotors: From design to control
- Author
-
S.H. Jeong and Seul Jung
- Subjects
Engineering ,Rotor (electric) ,business.industry ,Mechanical Engineering ,Frame (networking) ,Process (computing) ,Control engineering ,Mobile robot ,Sensor fusion ,Accelerometer ,Computer Science Applications ,law.invention ,Mechanism (engineering) ,Control and Systems Engineering ,law ,Hybrid system ,Electrical and Electronic Engineering ,business ,Simulation - Abstract
This article presents the hybrid design and control of a quad-rotor system called Flymobile. Flymobile is a combined system of a mobile robot and a quad-rotor system aimed to perform both flying and driving tasks. Flymobile performs flying tasks in the same way as conventional quad-rotor systems while the tilting mechanism of each rotor allows Flymobile to navigate in its terrain for a driving task. The body frame with rotors is implemented by a calibration process through a test-bed equipped with a force sensor. The triangular wheel frame is designed to mimic motions of a mobile robot with three passive wheels. Sensor data of a gyro and an accelerometer are filtered and used for controlling the attitude of the system. Focusing on a practical approach of implementing a hybrid system, a non model-based approach is applied to control Flymobile. Experimental studies are demonstrated to show the feasibility of performing both driving and flying missions.
- Published
- 2014
- Full Text
- View/download PDF