Flying Ball Drone in Korea


Spherical flight vehicle with a single rotor which can do VTOL and hovering is studied. The vehicle can also land or move on the ground by rolling. Even in circumstances such as sudden contact or crash, it hardly breaks due to the outer frame.


This study derives the equations of motion for the vehicle whose thrust is controlled by a single rotor and is maneuvered by 4 control surfaces. An altitude hold controller is designed and tested by using Kalman Filter and PID.


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