TY - JOUR
T1 - Mechatronic Design of a Delivery Octarotor Drone
AU - Evangeliou, Nikolaos
AU - Giakoumidis, Nikolaos
AU - Chaikalis, Dimitirs
AU - Tsoukalas, Athanasios
AU - Unlu, Halil Utku
AU - Xing, Daitao
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2022. Int. J. Mech. Eng. Rob. Res
PY - 2022/5
Y1 - 2022/5
N2 - This article describes the mechatronic design of a delivery octarotor drone equipped with safety features including protective bumpers for its propellers, parachute, and retractable gear. A GNSS-RTK unit provides extensive pose-refinement for trajectory tracking, while an RGBDepth Camera provides distance measurements from any present obstacles. A deep learning algorithm classifies any objects into certain categories (i.e., balloons, drones) followed by a trajectory avoidance algorithm. An onboard computer handles these sensor measurements and communicates with the autopilot for adjusting the trajectory. At the same time, it provides HD-live video feed to the base station and runs any onboard ROS-services. The resulting drone can safely land within a circular area of radius 1.5 m, while flying over, under and around obstacles or buildings.
AB - This article describes the mechatronic design of a delivery octarotor drone equipped with safety features including protective bumpers for its propellers, parachute, and retractable gear. A GNSS-RTK unit provides extensive pose-refinement for trajectory tracking, while an RGBDepth Camera provides distance measurements from any present obstacles. A deep learning algorithm classifies any objects into certain categories (i.e., balloons, drones) followed by a trajectory avoidance algorithm. An onboard computer handles these sensor measurements and communicates with the autopilot for adjusting the trajectory. At the same time, it provides HD-live video feed to the base station and runs any onboard ROS-services. The resulting drone can safely land within a circular area of radius 1.5 m, while flying over, under and around obstacles or buildings.
KW - Delivery drone
KW - Drone safety features
KW - Obstacle classification
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U2 - 10.18178/ijmerr.11.5.351-356
DO - 10.18178/ijmerr.11.5.351-356
M3 - Article
AN - SCOPUS:85129327476
SN - 2278-0149
VL - 11
SP - 351
EP - 356
JO - International Journal of Mechanical Engineering and Robotics Research
JF - International Journal of Mechanical Engineering and Robotics Research
IS - 5
ER -