开源四轴无人机硬件软件架构：入门与定制平台
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立即下载 本文介绍了一种开源的、适用于四轴无人机（UAV）的硬件/软件架构，旨在为初学者和高级研究者提供一个经济高效、高度可定制的平台，以支持复杂的无人机控制任务和教育目的。该架构由Riccardo Spica、Paolo Ruggiero Giordano、Markus Ryll、Heinrich H. Bülthoff和Antonio Franchi等人合作开发，他们在Inria Rennes Bretagne Atlantique、IRISA研究机构以及Max Planck Institute for Biological Cybernetics等学术机构任职。
核心特点包括：
1. **开放源代码**：这个平台基于开源设计，意味着研究人员可以直接访问和修改所有必要的软件和硬件组件，促进了技术共享和创新。
2. **成本效益**：通过开源设计和模块化结构，降低了硬件的成本，使得更多团队有能力参与到无人机开发中来。
3. **高度可定制性**：采用面向对象编程和先进的编程框架，如Robot Operating System (ROS)，允许用户根据需求灵活定制无人机的行为和功能，从而适应不同的应用需求。
4. **代码重用和扩展性**：ROS提供了丰富的生态系统，允许开发者在已有代码库的基础上进行功能扩展，节省了开发时间和精力。
5. **易用性和教育价值**：结合Matlab Simulink环境，用户可以直观地进行系统设计和算法仿真，简化了学习曲线，非常适合教学和实验研究。
6. **详尽的组件说明**：论文深入剖析了无人机各组件的工作原理和设计细节，帮助读者理解整体架构。
7. **原型设计与实验验证**：该架构支持快速原型设计，方便研究人员测试和验证新的控制算法，加速科研进程。
这篇论文为无人机爱好者、研究人员和教育工作者提供了一个强大的工具，让他们能够更好地理解和实现四轴无人机的硬件与软件集成，推动了无人机技术的发展和普及。
An Open-Source Hardware/Software
Architecture for Quadrotor UAVs
Riccardo Spica
∗
Paolo Robuffo Giordano
∗∗
Markus Ryll
∗∗∗
Heinrich H. Bülthoff
∗∗∗
Antonio Franchi
∗∗∗
∗
Inria Rennes Bretagne Atlantique and IRISA, Campus de Beaulieu,
∗∗
CNRS at IRISA, Campus de Beaulieu, 35042 Rennes Cedex, France
(e-mail: pr[email protected])
∗∗∗
Max Planck Institute for Biological Cybernetics, Spemannstraße 38,
72076 Tübingen, Germany,
(e-mail: antonio.fr[email protected]g.de)
Abstract: In this paper, we illustrate an open-source ready-to-use hardware/software archi-
tecture 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.
1. INTRODUCTION
Quadrotors are Unmanned Aerial Vehicles (UAVs) actu-
ated by four fixed-pitch independent propellers located at
the vertexes of a cross-shaped structure [11]. In addition
to being able to take-off and land vertically, quadrotors
can reach high angular accelerations thanks to the rela-
tively long lever arm between opposing motors. This makes
them more agile than most standard helicopters or similar
rotorcraft UAVs. For these reasons, and also because of
their affordability and mechanical robustness, this plat-
form has witnessed a considerable growing interest in the
robotics and hobbyist community over the last decade,
being, in some cases, also commercialized as off-the-shelf
products [1, asc].
Nowadays, most of the research efforts are not dealing with
more accurate dynamical modeling, or novel flight control
design, as these issues have reached an adequate level of
maturity and do not need further major improvements, at
least concerning standard applications. The challenge is
rather on how to exploit these systems as a flexible plat-
form for implementing and validating complex and higher-
level tasks, often involving multiple robots interacting at
the same time in partially structured or unstructured
environments. Some examples in this sense can be found
in, e.g., [14, 12, 2].
Nevertheless, obtaining a reliable and operative quadrotor
platform for experimental purposes still requires a con-
siderable investment of time and resources for properly
tuning the system, e.g., for taking care of identification
and calibration of all the various parameters (offsets, bi-
ases, motor curves), gain tuning of the flight controller,
implementation of accurate onboard state estimation fil-
ters, and, last but not least, software development and
debugging. These issues are obviously common to any
robot, but, we believe, are particularly sensitive for flying
robots as the malfunctioning of any hardware/software
component can easily result in a severe crash and loss of
the vehicle. Because of these reasons, many ready-to-use
platforms have been proposed over the last years, each of
them with their pros/cons and spanning a wide range of
prices.
The Hummingbird and Pelican quadrotors by Ascending
Technologies are probably the most widespread platforms
in the research community (see, e.g., [14, 12]). They are
characterized by a solid flight performance thanks to their
lightweight rigid structure, but their price is still expensive
compared to other solutions. An alternative consumer-
oriented and cheaper quadrotor platform, employed in
some research projects, is the AR.Drone Parrot [1] which
is able to achieve a stable near hovering flight only using
its onboard sensors. However, being the AR.Drone an
inexpensive quadrotor designed for the general consumer
market, it possesses clearly some drawbacks when used
within a research project, e.g., 1) it does not allow for the
tuning and customization that are often required in re-
search projects, 2) it is not possible to integrate additional
sensors and high performance computational units (due
to the extremely low payload and fragile structure), and
3) the usability of the integrated sensors for testing new
algorithms is limited by their quality and the latencies at
which the corresponding signals can be accessed. Further-
more, both these architectures are closed-source and the
low-level controller cannot be freely customized to comply
with the users’ needs.
As for open-source architectures, an interesting survey
of some existing projects can be found in [7]. Many of
the referenced solutions are extremely competitive when
hal-00906138, version 1 - 19 Nov 2013
Author manuscript, published in "2nd Workshop on Research, Education and Development of Unmanned Aerial System (2013)"
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资源评论
Msura
2025.06.21
内容全面，讲解清晰，非常适合对四轴无人机感兴趣的读者。
洪蛋蛋
2025.06.11
这本四轴硬件开发入门读物十分实用，适合作为学习和实践的起点。
練心
2025.06.10
该文献为四轴无人机爱好者提供了一个开源的硬件与软件架构。👎
是因为太久
2025.04.13
对于初学者而言，这本书是理解UAV领域的一个好帮手。
beike-lucky
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