The history of this project dates back to 2005 when we designed the prototype of the first autopilot to control model helicopters. The components these days were yet somewhat cumbersome ...
The project continued in the academic direction and underwent applications of advanced methods of control theory. Several academic theses and papers were published. The specialty of this platform was that self-stabilization has not been realized by onboard system. All senosr measurements were first sent by a specially designed wireless link to a ground station to a PC, where the controller calculated the action commands for the motors, and those were sent back. All this in less than 10 milliseconds. This approach allowed very comfortable controller tuning, visualization and the ability to use very advanced control methods directly on a PC without limitation of not as powerful microcontrollers as they are today. In this project we were also deployed for first our algorithms to control BLDC motors.
As a continuation of this project, in cooperation with a group AA4CC, DCE FEE, we created in 2011 the nanoQuad project. It was probably the first microscopic multicopter realized exclusively on the PCB. The machine has a wealth of sensors and its primary goal was the ability to orient itself in a formation. For this purpose, there were specially designed omnidirectional planar sonar, GPS, camera, WIFI, vertical sonar, infrared distance measurer and other sensors. On that PCB, we also made possible a control of three-phase motors in a very space constrained conditions.
- supply: 1x Li-Poly cell
- 7x microcontroller
- VGA camera for optical flow
- infared proximity sensor for landing
- omnidirecional ultrasonic planar sonar
- universal 2.4 GHz radio
- accelerometer, magnetometer, gyroscope
- temperature sensor, pressure sensor
- wireless firmware downloading of all the microcontrollers
- akademic or industrial usage in swarm robotics
- inherent ability of localization in the formation (measurement of angle and distance to all its members)
- obstacle avoidance, SLAM
- autonomous cooperation within formations
- countless other possibilities