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Computer Vision Group Prof. Daniel Cremers Autonomous Navigation for Flying Robots Lecture 1.3: Flying Principle of a Quadrotor Jürgen Sturm Technische Universität München
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Quadrotor: Flying Principle What 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/
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Quadrotor: Flying Principle Keep 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/
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Quadrotor: Flying Principle Keep position: Thrust compensates for earth gravity Torques 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/
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Quadrotor: Basic Motions Jürgen Sturm Autonomous Navigation for Flying Robots 5 Ascend Descend
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Quadrotor: Basic Motions Jürgen Sturm Autonomous Navigation for Flying Robots 6 Turn Left Turn Right
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Quadrotor: Basic Motions Move forward Move backwards Jürgen Sturm Autonomous Navigation for Flying Robots 7
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Quadrotor: Basic Motions Jürgen Sturm Autonomous Navigation for Flying Robots 8 Move left Move right
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Example: Parrot Ardrone 2.0 Actuators 4 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/
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Example: Parrot Ardrone 2.0 Sensors Gyroscope, accelerometer, magnetometer (IMU) Ultrasound height sensor Pressure sensor Visual odometry sensor (60fps) Front camera (720p, 30fps) Jürgen Sturm Autonomous Navigation for Flying Robots 10 http://ardrone2.parrot.com/ardrone-2/specifications/
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Example: Parrot Ardrone 2.0 Embedded Linux system ARM Cortex A8, 1GHz Linux 2.6.32 USB 2.0 host WiFi b,g,n Open-source API Jürgen Sturm Autonomous Navigation for Flying Robots 11 http://ardrone2.parrot.com/ardrone-2/specifications/
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Available Platforms Commercial platforms Parrot Ardrone AscTec Hummingbirg, Pelican, Firefly Bitcraze Crazyflie … Community/open-source projects Mikrokopter … Jürgen Sturm Autonomous 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/
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Interactive Exercise Test your understanding of the flight principle Web-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 Robots 13
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