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978-3-8439-1487-1, Reihe Informatik
Karl Engelbert Wenzel
Quadrocopters with Microcontroller-Based Autonomy
137 Seiten, Dissertation Eberhard-Karls-Universität Tübingen (2013), Softcover, A5
This thesis deals with the localization and control of flying robots. The goal of the author was to achieve results without sacrificing precision, preferably implemented with the most cost-effective hardware. The described methods allow a flying robot with limited processing power and limited sensor quality to hover on the spot, to follow another robot and to locate itself outdoors.
The main platform in this thesis is a quadrocopter with a diameter of about 50cm. The utilization of quadrocopters as flying robots offers some advantages compared to other aircraft. They can takeoff vertically, they can hover in place and they allow the attachment of sensors and actuators close to the center of mass. The quadrocopters used in our experiments are factory-fitted with sensors and controllers that make flying manually easier than controlling a standard model helicopter. The work described in this thesis is thus concentrated on expanding the functionality to autonomous robots.