Design and Control of a Quad-Rotor Flying Robot For Aerial Surveillance

摘要

This paper presents the control of a quad-rotor VTOL (vertical take off and landing) flying robot as an experimental flying platform. The flying robot is to be controlled by a pilot using radio frequency. A wireless CCTV camera is installed on the robot to perform aerial surveillance and inspection operation. Due to the naturally unstable behavior of the flying robot, PID control system is implemented with the aid of accelerometer, compass sensor and gyro sensors to stabilize the flying robot and make it easier to be controlled by the operator. The fusion between the accelerometer, compass sensor and also the gyro sensors is done by the complementary filter.