We describe the modeling, estimation and control of a quadrotor in 3D environment using the 3DR Pixhawk PX4 as controller through Robot Operating System(ROS). The paper discusses a method to measure moment of inertia of quadrotor about its principal axes to achieve better results in an inexpensive way. We also present the trajectory generation and segment optimization of the trajectory commanded to the quadrotor. We describe a method of controlling the quadrotor through ROS by providing necessary inputs to the flight controller using the built-in firmware. © 2016 IEEE.

Suril Vijaykumar Shah

Department of Mechanical Engineering

IIT Jodhpur

D.H. Salunkhe

S. Sharma

S.A. Topno

C. Darapaneni

A. Kankane

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Design, trajectory generation and control of quadrotor research platform

International Conference on Robotics and Automation for Humanitarian Applications, RAHA 2016 - Conference Proceedings

Journal	Data powered by TypesetInternational Conference on Robotics and Automation for Humanitarian Applications, RAHA 2016 - Conference Proceedings
Publisher	Data powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
Open Access	No