The Design And Implementation Of Intelligent Aerial Robot System

Aerial robots are those who are capable of completing a specific task, and capable of autonomous perception and flight in the air. The design of the aerial robot system involves many subjects, and has a wide application in many fields, with considerable prospect in technology. At present, most researches on the four-rotor UAV are focused on the design of flight controllers, with the goal of designing stable UAV platform when using remote controllers. Based on these studies, we are trying to design and build a more intelligent aerial robot system by adding a task load to the UAV platform and interfacing to the flight controller using remote control interface, to study the intelligent aerial robot design and implementation.Firstly, according to the overall design step of intelligent aerial robot system, every part of the system is designed. On the hardware, we build a UAV platform, select and place the task sensor and the processing platform, as well as a ground station environment. Then we select Robot Operating System(ROS) as the software framework to design programs for the aerial robot system.Secondly, we discuss the design of sensing and control interface for the robot using ROS. We first introduce the basic concept of ROS and the method to design ROS node using Python. Then we analyze the PX4 Flow flow sensor’s output data format and data acquisition method. Finally, we talked about the way of interfacing to the flight controller, and how to control the aerial robot’s flight process.Thirdly, based on the functional partitioning of each part, we design and implement the pose estimator node, the controller node, the PPM sending node and the flight planner node for the system using ROS.Finally, we test the system. We design a system test node, and use it to test the system software. Then we have the whole intelligent aerial robot system tested, which shows that the various nodes in the system can work well as they are designed for.