The quadroller: modeling of a UAV/UGV hybrid quadrotor

Page, Jared R. and Pounds, Paul E. I. (2014). The quadroller: modeling of a UAV/UGV hybrid quadrotor. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014). 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, United States, (4834-4841). 14-18 September 2014. doi:10.1109/IROS.2014.6943249

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Author Page, Jared R.
Pounds, Paul E. I.
Title of paper The quadroller: modeling of a UAV/UGV hybrid quadrotor
Conference name 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Conference location Chicago, United States
Conference dates 14-18 September 2014
Convener Kevin Lynch
Proceedings title 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)   Check publisher's open access policy
Journal name 2014 Ieee/rsj International Conference On Intelligent Robots and Systems (Iros 2014)   Check publisher's open access policy
Place of Publication Piscataway, NJ, United States
Publisher IEEE
Publication Year 2014
Year available 2014
Sub-type Fully published paper
DOI 10.1109/IROS.2014.6943249
ISBN 9781479969340
ISSN 2153-0858
Start page 4834
End page 4841
Total pages 8
Collection year 2015
Language eng
Abstract/Summary Energetic efficiency is a key limiting factor of hovering UAVs. Equipping a quadrotor with low-friction wheels allows it to exploit efficient rolling locomotion to travel long distances on smooth surfaces - common in human environments. A novel feature of this approach is the use of skateboard steering trucks that use lateral tilt to affect steering. This allows existing quadrotor flight controls for driving without modification to the avionics. In this paper we present turning mechanics for driving along the ground and performance curves for the vehicle rolling over different surfaces. We show experimentally that the rolling range of a commercial off-the-shelf quadrotor greatly exceeds its flying range, despite the small added mass of rolling wheels.
Q-Index Code E1
Q-Index Status Confirmed Code
Institutional Status UQ

 
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Created: Fri, 27 Mar 2015, 01:27:18 EST by Ms Dulcie Stewart on behalf of School of Information Technol and Elec Engineering