Abstract
This work presents the results of an effort to create a high performance quad-rotor MAV named iQCopter for research in the field of swarm robotics and vision-based autonomous operation. During the design, navigational and computational capabilities have been of major priority. A distinctive feature of the iQCopter is its layered system architecture using a comparably powerful, hard real-time capable x86-computer even in the innermost control loop for maximum transparency and ease of use while a simple fixed-point microcontroller provides a low-level sensor interface and a fallback solution for safety reasons. Finally, a successful system identification and subsequent design of an aggressive H ∞ controller are presented as benchmark cases to demonstrate the performance of the design.
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Witt, J., Annighöfer, B., Falkenberg, O., Weltin, U. (2011). Design of a High Performance Quad-Rotor Robot Based on a Layered Real-Time System Architecture. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_32
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DOI: https://doi.org/10.1007/978-3-642-25486-4_32
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