UPenn - Robotics 1:Aerial Robotics - week 1:Introduction to Aerial Robotics

 

 

After having starting point, barrirers and destination, how to get a safe trajectory?

 

 

 

 

State estimate:

sub milimeter accuracy in lab

 

 GPS for large airplane

 

 But indoors, no GPS.

 

How???

 

 

 

 

 

 

SLAM !!!

 

 

 

 4X

 

 

 

 

 

 

1 camera

 

markers as beacons

 

 

 

 

Applications:

 

 

 

 

also multiple vehicles collaborating

 

 

 

 

 

 

 

 

 

 

 

 

 

 

response to 911 call

 

 

 

 

 

 

 

 

 

 1,Basic Mechanics

 

 

 

https://www.quora.com/Why-cant-all-the-motors-of-a-quadcopter-rotate-in-the-same-direction

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

                  disturbance and recovery

 

 

 

              over shoot and recovery

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

  

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 battery selection

 

 

  

 

 

 Actually hovering is an inefficient mechanism !!!

 

Bolt: 20W/kg

bicyclist: 6W/kg

 

 fat of tissue carries 10kw per kg

 

 ↓ have to build smaller and more light-weight quadrators in lab

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

$v_0^2 - v^2 = 2ax,\ where\ v=0\ here.$

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 $\frac{9600}{2815-130}$

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

       in short