1. Computer Vision Group Prof. Daniel Cremers Autonomous Navigation for Flying Robots Lecture 1.3: Flying Principle of a Quadrotor Jürgen Sturm Technische Universität München

2. Quadrotor: Flying Principle What do we need to do to keep the position? Jürgen Sturm Autonomous Navigation for Flying Robots 2 http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/

3. Quadrotor: Flying Principle Keep position:  Thrust compensates for earth gravity Jürgen Sturm Autonomous Navigation for Flying Robots 3 http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/

4. Quadrotor: Flying Principle Keep position:  Thrust compensates for earth gravity  Torques of all four rotors sum to zero Jürgen Sturm Autonomous Navigation for Flying Robots 4 http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/

5. Quadrotor: Basic Motions Jürgen Sturm Autonomous Navigation for Flying Robots 5 Ascend Descend

6. Quadrotor: Basic Motions Jürgen Sturm Autonomous Navigation for Flying Robots 6 Turn Left Turn Right

7. Quadrotor: Basic Motions Move forward Move backwards Jürgen Sturm Autonomous Navigation for Flying Robots 7

8. Quadrotor: Basic Motions Jürgen Sturm Autonomous Navigation for Flying Robots 8 Move left Move right

9. Example: Parrot Ardrone 2.0  Actuators  4 brushless motors, 14.5W  AVR CPU motor controllers  LiPo battery, 1000mAh Jürgen Sturm Autonomous Navigation for Flying Robots 9 http://ardrone2.parrot.com/ardrone-2/specifications/

10. Example: Parrot Ardrone 2.0  Sensors  Gyroscope, accelerometer, magnetometer (IMU)  Ultrasound height sensor  Pressure sensor  Visual odometry sensor (60fps)  Front camera (720p, 30fps) Jürgen Sturm Autonomous Navigation for Flying Robots 10 http://ardrone2.parrot.com/ardrone-2/specifications/

11. Example: Parrot Ardrone 2.0  Embedded Linux system  ARM Cortex A8, 1GHz  Linux 2.6.32  USB 2.0 host  WiFi b,g,n  Open-source API Jürgen Sturm Autonomous Navigation for Flying Robots 11 http://ardrone2.parrot.com/ardrone-2/specifications/

12. Available Platforms  Commercial platforms  Parrot Ardrone  AscTec Hummingbirg, Pelican, Firefly  Bitcraze Crazyflie  …  Community/open-source projects  Mikrokopter  … Jürgen Sturm Autonomous Navigation for Flying Robots 12 http://www.seeedstudio.com/depot/ Crazyflie-Nano-Quadcopter-Kit-6DOF-with-Crazyradio-BCCFK01B-p-1364.html https://www.mikrocontroller.com/

13. Interactive Exercise  Test your understanding of the flight principle  Web-based quadrotor simulator  Programmable in Python  For the moment, assume we have no noise  Specify a sequence of motor commands to  Ascend, descend, fly forward, fly left, …  Fly 1m forward, 1m left, …  Fly (blindly) through the parcours! Jürgen Sturm Autonomous Navigation for Flying Robots 13