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The quadrotor unmanned aerial vehicle (UAV) has been a hot area for the research of unmanned aerial vehicles. This paper provides a brief introduction for the current research situation of quadrotor UAVs. Firstly, the characteristics of the quadrotor UAV are presented in views of their performance, structure and control. Secondly, the frameworks are divided into two main categories, according to the different methods for measurements of the attitude signals. Some representative frameworks and control systems are described in details. Finally, key problems and trends of the research on quadrotor UAVs are proposed.