Mechanism and control of four rotor flying robot

This paper presents the control and the mechanism of a flying robot with on-board sensors. This flying robot consists of four rotors, four landing legs, and a body. Also, ultrasonic sensors are installed in the body to measure flight height, while an acceleration sensor, a gyro sensor, and a geomagnetic sensor are attached to the body to measure rotation angles and angular velocities. A GPS sensor is used to detect the present position of the robot. To control the flying robot, a PID controller and PWM signals are used. Through flight experiments, the effectiveness of the mechanism and the control system is verified.