Скачать или смотреть Flying Android Bot (FAB)

The objective of this experiment is to demonstrate how standard hardware platforms like smartphones and flight controllers can be integrated through simple software architecture to build autonomous quadrotors that can navigate indoor environments. This first video shows how the quadrotor can be stabilized and controlled to achieve autonomous flight using an Android device; which opens up the possibility for any consumer to take a commercially available platforms like the Google Tango Project device and automate the process of generating three-dimensional (3D) maps for exploring and mapping indoor environments. The quadrotor platform was chosen due to its mechanical simplicity and ease of control. Moreover, its ability to operate in confined spaces, hover in space, and perch or land on a flat surfaces; makes it a very attractive aerial platform with tremendous potential.

In this experiment, the system is set to hover in a defined 3-D position in space. The vehicle promptly returns to the set point, showing the stability of the controller presented. After the taking-off phase, the vehicle reaches the specified altitude and the goal position is set. Then, the vehicle controller commands changes in velocity to allow the system to return to its original position. The peak velocities are around 2 m/s, and, in each case, the controller takes less than 3s to stabilize, suggesting a closed-loop control bandwidth of around 0.25–0.5 Hz. During each disturbance, the Local Position Estimator (LPE) is able to identify the pose and velocity of the system and reacts promptly, once released, increasing the spatial velocity to return to its hovering position.

The experimental platform shown is made from carbon fiber COTS components and is equipped with 4 brushless motors, and an autopilot board consisting of an IMU and an user–programmable microcontroller. The only other addition to this setup is a forward–pointing smartphone Nexus 5X, an optical flow, and a stand-alone ESP8266 based serial wireless bridge module to deal with the communication between the smartphone and the flight controller wireless. The total mass of the platform is 980g (including battery & smartphone).

Plots: http://logs.uaventure.com/view/uiomL3...

References:
G. Loianno, Y. Mulgaonkar†, C. Brunner, D. Ahuja, A. Ramanandan, M. Chari, S. Diaz, and V. Kumar, “Smartphones Power Flying Robots”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany