Lecture 13 Flying Principle of a Quadrotor Jürgen Sturm Technische Universität München Quadrotor Flying Principle What do we need to do to keep the position Jürgen Sturm ID: 243860
Download Presentation The PPT/PDF document "Autonomous Navigation for Flying Robots" is the property of its rightful owner. Permission is granted to download and print the materials on this web site for personal, non-commercial use only, and to display it on your personal computer provided you do not modify the materials and that you retain all copyright notices contained in the materials. By downloading content from our website, you accept the terms of this agreement.
Slide1
Autonomous Navigation for Flying RobotsLecture 1.3: Flying Principle of a Quadrotor
Jürgen
Sturm
Technische
Universität
MünchenSlide2
Quadrotor: Flying PrincipleWhat do we need to do to keep the position?
Jürgen Sturm
Autonomous Navigation for Flying Robots
2
http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/Slide3
Quadrotor: Flying PrincipleKeep position:Thrust compensates for earth gravity
Jürgen Sturm
Autonomous Navigation for Flying Robots
3
http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/Slide4
Quadrotor: Flying PrincipleKeep position:Thrust compensates for earth gravityTorques of all four rotors sum to
zero
Jürgen Sturm
Autonomous Navigation for Flying Robots
4
http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/Slide5
Quadrotor: Basic MotionsJürgen Sturm
Autonomous Navigation for Flying Robots
5
Ascend
DescendSlide6
Quadrotor: Basic MotionsJürgen Sturm
Autonomous Navigation for Flying Robots
6
Turn Left
Turn RightSlide7
Quadrotor: Basic Motions
Move
forward
Move backwards
Jürgen Sturm
Autonomous Navigation for Flying Robots
7Slide8
Quadrotor: Basic MotionsJürgen Sturm
Autonomous Navigation for Flying Robots
8
Move
left
Move rightSlide9
Example: Parrot Ardrone 2.0Actuators4 brushless motors, 14.5W
AVR CPU motor controllers
LiPo
battery, 1000mAh
Jürgen Sturm
Autonomous Navigation for Flying Robots
9
http://ardrone2.parrot.com/ardrone-2/specifications/Slide10
Example: Parrot Ardrone 2.0SensorsGyroscope, accelerometer, magnetometer (IMU)
Ultrasound height sensor
Pressure sensor
Visual
odometry
sensor (60fps)Front camera (720p, 30fps)
Jürgen Sturm
Autonomous Navigation for Flying Robots10
http://ardrone2.parrot.com/ardrone-2/specifications/Slide11
Example: Parrot Ardrone 2.0Embedded Linux systemARM Cortex A8, 1GHz
Linux 2.6.32
USB 2.0 host
WiFi
b,g,nOpen-source API
Jürgen Sturm
Autonomous Navigation for Flying Robots
11
http://ardrone2.parrot.com/ardrone-2/specifications/Slide12
Available Platforms
Commercial platforms
Parrot
Ardrone
AscTec
Hummingbirg, Pelican, Firefly
Bitcraze Crazyflie…Community/open-source projectsMikrokopter…
Jürgen SturmAutonomous Navigation for Flying Robots
12
http://
www.seeedstudio.com/depot/
Crazyflie-Nano-Quadcopter-Kit-6DOF-with-Crazyradio-BCCFK01B-p-1364.html
https://www.mikrocontroller.com/Slide13
Interactive ExerciseTest your understanding of the flight principleWeb-based quadrotor
simulator
Programmable in Python
For the moment, assume we have no noise
Specify a
sequence of motor commands to
Ascend, descend, fly forward, fly left, …Fly 1m forward, 1m left
, …Fly (blindly) through the parcours!Jürgen Sturm
Autonomous Navigation for Flying Robots13