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Absolute Motion Analysis- General Plane Motion01:24

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Quadrotor with wheels: design and experimental evaluation.

Ilan Aizelman1, Dan Magazinnik2, Dan Feldman3

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We developed a lightweight wheeled quadrotor for indoor navigation, enhancing tracking and mapping. This hybrid design offers improved battery efficiency and positioning accuracy, making it ideal for various applications.

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Area of Science:

  • Robotics and Autonomous Systems
  • Indoor Navigation Technologies

Background:

  • Quadrotors are widely used for indoor tracking and mapping.
  • Effective navigation requires both accuracy and battery efficiency.
  • Existing solutions often compromise on one of these factors.

Purpose of the Study:

  • To propose a cost-effective and lightweight wheeled quadrotor combining driving and flying capabilities.
  • To enable seamless performance of both functions for enhanced navigation.
  • To improve battery efficiency and positioning accuracy in indoor applications.

Main Methods:

  • Designed and constructed a wheeled quadrotor based on the Tello platform (80g).
  • Added driving capability with minimal weight increase (15g, <20% added weight).
  • Evaluated inertial navigation performance and battery consumption using diverse flight and driving patterns.

Main Results:

  • Driving the quadrotor resulted in the lowest battery consumption (10%).
  • Specific flying scenarios improved positioning error by over 70%.
  • The hybrid design demonstrated a balance between flight and driving functionalities.

Conclusions:

  • The wheeled quadrotor offers a viable solution for accurate and battery-efficient indoor navigation.
  • Combining driving and flying capabilities enhances quadrotor performance for tracking and mapping.
  • This cost-effective, lightweight design presents advantages for various indoor robotic applications.