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

&ldquo;IIT Jodhpur is committed to impart quality education to facilitate the creation of qualified, competent and responsible human resources to meet the emerging technological challenges of the world. It is working towards creating an equitable learning platform that is positive, accessible and effective in the face of the modern societal and scientific advancements.

Flexibility in curriculum, in all its academic programs, encompassing elements of teaching, research, creativity, innovation and entrepreneurship is the most unique feature of IIT Jodhpur. The Department of Science and Technology (DST), under the National Mission on Cyber Physical Systems, has identified IIT Jodhpur as a Technology &amp; Innovation Hub in the area of Augmented Reality and Virtual Reality. The institute has also been nominated as the coordinator for the Jodhpur City and Knowledge Cluster by the Office of Principal Scientific Adviser, Government of India.

The sprawling 852-acre IIT Jodhpur campus is a majestic tribute to the deep-rooted diverse cultural heritage of the region. The campus is an architectural masterpiece, which is slated to become an international exemplar of sustainability with net-zero energy, and advanced water and waste management strategies.&rdquo;

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

Design, trajectory generation and control of quadrotor research platform

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