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http://dx.doi.org/10.5391/JKIIS.2015.25.4.398

Dynamic Modeling based Flight Control of Hexa-Rotor Helicopter System  

Han, Jae-Gyun (Dept. of Mechatronics Engineering, Dongseo University)
Jin, Taeseok (Dept. of Mechatronics Engineering, Dongseo University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.25, no.4, 2015 , pp. 398-404 More about this Journal
Abstract
In this paper, we describe the design and performance of a prototype multi-rotor unmaned aerial vehicle( UAV) platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. Although there has been a fair amount of study of free-flying UAV with multi-rotors, the more recent trend has been to outfit hexarotor helicopter with gimbal to support various services. This paper introduces the hardware and software systems toward very compact and autonomous hexarotors, where they can perform search, rescue, and surveillance missions without external assistance systems like ground station computers, high-performance remote control devices or vision system. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, mathematical modeling and simulation in the helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(MCU)(ARM-cortex) board. The micro-controller is able to command the rotational speed of the rotors and to get the measurements of the IMU as input signals. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.
Keywords
Hexarotor; Bluetooth; Inertial Measurement Unit(IMU); UAV; Simulation;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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