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  An Open-Source Hardware/Software Architecture for Quadrotor UAVs

Spica, R., Robuffo Giordano, P., Ryll, M., Bülthoff, H., & Franchi, A. (2013). An Open-Source Hardware/Software Architecture for Quadrotor UAVs. In IFAC Proceedings Volumes (pp. 198-205).

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 Urheber:
Spica, R, Autor           
Robuffo Giordano, P, Autor           
Ryll, M1, 2, Autor           
Bülthoff, HH1, 2, Autor           
Franchi, A1, 2, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Zusammenfassung: In this paper, we illustrate an open-source ready-to-use hardware/software architecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components, a thorough description of the main basic algorithms and calibration procedures, and finally present some experimental case studies aimed at showing the effectiveness of the proposed architecture.

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 Datum: 2013-11
 Publikationsstatus: Erschienen
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 Identifikatoren: DOI: 10.3182/20131120-3-FR-4045.00006
BibTex Citekey: SpicaRRBF2013
 Art des Abschluß: -

Veranstaltung

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Titel: 2nd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2013)
Veranstaltungsort: Compiegne, France
Start-/Enddatum: 2013-11-20 - 2013-11-22

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Titel: IFAC Proceedings Volumes
Genre der Quelle: Konferenzband
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Seiten: - Band / Heft: 46 (30) Artikelnummer: - Start- / Endseite: 198 - 205 Identifikator: ISBN: 978-3-902823-57-1