An Open-Source Hardware/Software Architecture for Quadrotor UAVs

TitleAn Open-Source Hardware/Software Architecture for Quadrotor UAVs
Publication TypeConference Paper
Year of Publication2013
AuthorsSpica, R, Robuffo Giordano, P, Ryll, M, Bülthoff, HH, Franchi, A
Conference Name2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems
Date Published11/2013
Conference LocationCompiegne, France
KeywordsAerial Robotics, UAV hardware platforms

In this paper, we illustrate an open-source ready-to-use hardware/software architecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture.

Citation Key2013o-SpiRobRylBueFra
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