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Fully Autonomous Quadrotor: A Testbed Platform for Aerial Robotics Tasks

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8 Author(s)
Guimaraes, J.P.F. ; Fed. Inst. of Educ. Sci. & Technol. of Rio Grande do Norte (IFRN), Apodi, Brazil ; Laura, T.L. ; Sanca, A.S. ; Schildt, A.N.
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This paper presents a strategy for an attitude and altitude control of a fully autonomous quad rotor helicopter. The hardware and software architecture of the proposed system is based on master-slave paradigm, where the master device is an embedded PC allowing high degree of autonomy. This paper focuses on the low level stabilization control. The stabilization approach is based on a transformation of the input variables of the system to perform a decoupled control. Experimental results of attitude and altitude control of the quad rotor prototype are shown.

Published in:

Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian

Date of Conference:

16-19 Oct. 2012