실내 환경에서 쿼드로터의 자세 및 자율 비행 제어

Abstract

The problem of hovering and autonomous flight control of quad-rotor in indoor environments is considered in this paper. It is essential to obtain position information of quad-rotor for hovering and autonomous flight control. The position and orientation information can be estimated usually using global positioning system (GPS) and inertial measurement unit (IMU). However, GPS may not work correctly in indoor environments. In this paper, we propose position control method for hovering and autonomous flight using IR, ultrasonic and IMU sensors in indoor environments. It is shown that he proposed method can be employed successfully for a simple quad-rotor system.