Modeling and development of a quadrotor UAV

Gilbert Pradel (1) , Khadidja Benzemrane (1) , Gilney Damm (1) , Naoufel Azouz (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper presents the conception and construction of a mini quadrotor helicopter for indoor and outdoor applications. This Unmanned Aerial Vehicle (UAV), named XSF, has a very manoeuvrable platform and is indicated to work in inaccessible spaces. Its main advantage with respect to classical 4-rotors helicopters is the ability of flipping two motors in order to obtain two more control inputs. We present its hardware architectures as well as the dynamical model used to control the UAV stabilization. The tasks scheduled by the on-board real time operating system are also introduced as well as the navigator scheme current under development.

Domaines: Robotique [cs.RO]; Système multi-agents [cs.MA]; Automatique; Mécanique [physics.med-ph]; Mécanique des structures [physics.class-ph]; Mécanique des structures [physics.class-ph]; Automatique / Robotique

Gilbert Pradel, Khadidja Benzemrane, Gilney Damm, Naoufel Azouz. Modeling and development of a quadrotor UAV. 3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) & European Micro Air Vehicle Conference and Flight Competition (EMAV2007), Sep 2007, Toulouse, France. ⟨hal-00342879⟩