research-article

Rotary-wing aerial robot configuration for in-flight switching for hovering

Authors:

Sarbari Datta,

Umesh Patkar,

S. Majumder,

Manik MajumderAuthors Info & Claims

AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

Article No.: 32, Pages 1 - 4

https://doi.org/10.1145/2783449.2783481

Published: 02 July 2015 Publication History

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Abstract

This paper describes the configuration of Rotary Wing Aerial Robot developed at CSIR-CMERI for smooth switching while in flight from teleoperated mode to auto mode for steady hovering. This include reading incoming PWM signals from transceiver using high-speed digital FPGA card mounted on the control computer to allow for high-speed data throughput required for switching and ensuring attitude stability with accelerated response required for a steady hover. An indigenous protocol is developed for powerful long distance communication between ground station and RWAR for command, reply and data transmission from a high performance MEMS based miniature Attitude Heading Reference System (AHRS) with GPS. The provided configuration is tested on Hirobo Scheadu50 model.

References

[1]

S. Datta, U. S. Patkar, S. Majumder, "Rotary Wing Flying Robot Attitude Control for hovering", International Conference of Robotic Society of India-AIR 2013, July 4-6, 2013, Pune, India.

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[2]

S. Datta, U. S. Patkar, S. Majumder, "Controller for Attitude Stabilization with Disturbance Rejection for Steady Hover of a Rotary-Wing Flying Robot", 9th International Conference on Intelligent Unmanned Systems (ICIUS 2013), 25-27 September 2013, Jaipur, Rajasthan, India, pp. 131.

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[3]

S. Datta, U. S. Patkar, S. Majumder, "Attitude Controller for Steady Hover of a Rotary-Winged Flying Robot", Journal of Intelligent Robotic Systems(JINT), Volume 75 Issue 3, pp 609--623, 2014

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Published In

AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

July 2015

413 pages

ISBN:9781450333566

DOI:10.1145/2783449

© 2015 Association for Computing Machinery. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 02 July 2015

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CSIR Planning Commission

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AIR '15

AIR '15: Advances In Robotics

July 2 - 4, 2015

Goa, India

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Overall Acceptance Rate 69 of 140 submissions, 49%

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