An Open-Source Hardware/Software Architecture for Quadrotor UAVs - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2013

An Open-Source Hardware/Software Architecture for Quadrotor UAVs

Abstract

In this paper, we illustrate an open-source ready-to-use hardware/software archi- tecture 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 and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture.
Fichier principal
Vignette du fichier
2013_spica_uas.pdf (777.73 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00906138 , version 1 (19-11-2013)

Identifiers

  • HAL Id : hal-00906138 , version 1

Cite

Riccardo Spica, Paolo Robuffo Giordano, Markus Ryll, Heinrich H Bülthoff, Antonio Franchi. An Open-Source Hardware/Software Architecture for Quadrotor UAVs. 2nd Workshop on Research, Education and Development of Unmanned Aerial System, Nov 2013, Compiègne, France. ⟨hal-00906138⟩
545 View
610 Download

Share

Gmail Facebook Twitter LinkedIn More