Pre-print version, published at MAV07 (EMAV2007) Quadrotor Using Minimal Sensing For Autonomous Indoor Flight

Abstract

Abstract — This paper presents a Miniature Aerial Vehicle (MAV) capable of handsoff autonomous operation within indoor environments. Our prototype is a Quadrotor weighing approximately 600g, with a diameter of 550mm, which carries the necessary electronics for stability control, altitude control, collision avoidance and anti-drift control. This MAV is equipped with three rate gyroscopes, three accelerometers, one ultrasonic sensor, four infrared sensors, a high-speed motor controller and a flight computer. Autonomous flight tests have been carried out in a 7x6-m room. I

Download PDF:
_{Sorry, we are unable to provide the full text but you may find it at the following location(s):}

http://citeseerx.ist.psu.edu/v... (external link)

http://infoscience.epfl.ch/rec... (external link)

http://infoscience.epfl.ch/rec... (external link)